Self-adaptive tensioning system and method for cooperatively controlling tension and deviation of belt conveyor

Abstract

The invention discloses a self-adaptive tensioning system and method for cooperatively controlling tension and deviation of a belt conveyor. The system is characterized in that a state sensing module comprises a tension sensor group, a deviation sensor group, a load detection sensor and a speed encoder; the tensioning adjusting mechanism is used for executing a tensioning adjusting action on the conveying belt according to the tensioning control instruction; the deviation rectification adjusting mechanism is used for executing deviation rectification adjusting action on the conveying belt according to the deviation rectification control instruction; the central control unit comprises a data preprocessing module, a target tension calculation module, a decision output and cooperative adjustment module and a parameter self-adaption module. The method comprises the following steps: calculating the basic tension based on the change conditions of the load and the speed; the tension compensation amount is calculated based on the deviation state; calculating a target tensile force; and the main tensioning executing mechanism is made to execute the tensioning adjusting action, the transverse deviation amount is synchronously collected, and when the transverse deviation amount exceeds the set deviation threshold value, the deviation rectifying adjusting mechanism is made to execute the deviation rectifying adjusting action. According to the invention, cooperative control of tension stability and deviation can be realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of belt conveyor control, and particularly relates to a self-adaptive tensioning system and method for belt conveyor tension and deviation coordination control. BACKGROUND

[0002] As the core equipment for continuous transportation of bulk materials, the stability and reliability of the belt conveyor directly affect the production efficiency and operating cost. In the actual operation process, the tension and deviation of the conveyor belt are two key parameters that are coupled and influence each other. Insufficient tension can easily lead to belt slip and deviation, while excessive tension can increase system energy consumption and accelerate component wear; deviation not only causes material spillage and edge wear of the conveyor belt, but in severe cases can even cause equipment shutdown and production interruption.

[0003] At present, common tensioning devices such as weight tensioning and fixed hydraulic tensioning mostly aim to maintain constant tension, without fully considering the dynamic coupling relationship between tension distribution and deviation. Conventional deviation correction devices such as the centering roller belong to passive correction mode, which has problems such as response lag and insufficient adjustment accuracy, and often corrects after deviation occurs, which cannot prevent deviation from occurring at the root.

[0004] With the development of intelligent mines and smart factories, higher requirements are put forward for the intelligent level of belt conveyor operation. The existing independent tension control and passive deviation correction method has been difficult to meet the stable operation demand under complex working conditions. Therefore, it is urgent to provide a control system that can real-time perceive the running state and dynamically coordinate the tension and deviation, so as to fundamentally realize active prevention and accurate suppression, and fully improve the intelligent operation level of the belt conveyor. SUMMARY

[0005] In view of the problems existing in the prior art, the present application provides a self-adaptive tensioning system and method for belt conveyor tension and deviation coordination control, which has the outstanding advantages of high control precision, fast response speed and strong adaptability, can significantly improve the running stability, safety and economy of the belt conveyor, reduce maintenance cost, and provide important technical support for the construction of intelligent mines and smart factories. The method can real-time perceive the running state of the conveyor belt, cooperatively calculate the optimal tensioning strategy through intelligent algorithm, and drive the actuator to realize dynamic adjustment, so as to effectively prevent and correct deviation while ensuring that the conveyor belt has appropriate working tension, thereby realizing adaptive tensioning control operation of tension stability and deviation suppression coordination control.

[0006] In order to achieve the above purpose, the present application provides a self-adaptive tensioning system for belt conveyor tension and deviation coordination control, comprising a state perception module, a tension adjustment mechanism, a deviation correction mechanism and a central control unit. The state perception module comprises a tension sensor group, a deviation sensor group, a load detection sensor and a speed encoder; a plurality of tension sensor groups are installed at a plurality of monitoring nodes in the conveying direction of the conveyor, for collecting tension values ; a plurality of deviation sensor groups are respectively installed at both sides of the load section and the return section of the conveyor belt, for collecting the lateral deviation of the edge of the conveyor belt relative to the edge of the roller ; the load detection sensor is installed on the frame of the conveyor, for collecting the instantaneous load of the conveyor belt ; the speed encoder is installed on the rotating shaft of the driven drum, for collecting the running speed of the conveyor belt ; The tension adjustment mechanism is used to perform tension adjustment action on the conveyor belt according to the tension control instruction; The deviation correction mechanism is used to perform deviation correction action on the conveyor belt according to the deviation correction control instruction; The central control unit comprises a data preprocessing module, a target tension calculation module, a decision output and cooperative adjustment module, and a parameter adaptive module. The data preprocessing module is used to filter, denoise and data fusion process the multi-source monitoring data to obtain multi-source fusion data. The target tension calculation module is used to calculate the deviation rate based on the multi-source fusion data, and calculate the target tension based on the coupling relationship between tension and deviation. ; The decision output and cooperative adjustment module is used to issue a tension control instruction to the tension adjustment mechanism based on the target tension , and generate a deviation correction control instruction based on the difference between the lateral deviation and the set deviation threshold value , and issue it to the deviation correction mechanism during the tension adjustment process; The parameter adaptive module is used to calculate the tension difference value based on the actual tension value after tension and deviation correction and the actual deviation , and adjust the proportional gain and the differential gain based on the deviation difference value between the actual deviation after tension and deviation correction and the expected deviation .

[0007] In order to facilitate human-computer interaction, a human-computer interaction interface is further included, which is connected with the central control unit and used to provide a human-computer interaction interface.

[0008] As a preferred, the deviation sensor group is composed of a plurality of non-contact displacement sensors or laser ranging sensors.

[0009] ​​As a preferred, the deviation correction adjustment mechanism is a side angle adjustable adjusting roller group or a gas bag type lateral pressure applying mechanism.

[0010] As a preferred, the tension adjustment mechanism is a hydraulic servo tensioning system or an electric winch tensioning system.

[0011] The present application establishes a tension and deviation coordination control model, and designs a complete control system including state perception, central decision and hierarchical execution. The present application breaks through the limitation of traditional independent control, establishes a tension and deviation coordination control mechanism, realizes the change from "passive deviation correction" to "active deviation prevention", has the advantages of fast response, strong self-adaptation and high control precision, can realize the tension and deviation coordination self-adaptive control of the belt conveyor, and can significantly improve the stability, safety and economy of the belt conveyor operation. The system can continuously monitor the conveyor operation state, dynamically calculate the optimal control strategy, realize accurate control through hierarchical execution mechanism, and continuously optimize the control parameters according to the feedback results, so that the system can maintain stable and efficient operation state under various working conditions.

[0012] The system has the advantages of high control precision, fast response speed and strong self-adaptation, can significantly improve the operation stability, safety and economy of the belt conveyor, reduce the maintenance cost, and provides important technical support for intelligent mine and smart factory construction.

[0013] The present application also provides an adaptive tensioning method for belt conveyor tension and deviation coordination control, which adopts an adaptive tensioning system for belt conveyor tension and deviation coordination control, including the following steps: Step one: installation of adaptive tensioning coefficient for belt conveyor tension and deviation coordination control; A state perception module for collecting conveyor operation state data is arranged on the conveyor, and the connection between the state perception module, the tension adjustment mechanism, the deviation correction adjustment mechanism and the central control unit is established; Step two: real-time collection and processing of monitoring data; S21: during the operation of the conveyor, the state perception module is used to perceive the tension value , lateral deviation , instantaneous load and running speed at multiple monitoring nodes in real time, and the deviation rate is calculated according to the lateral deviation ; S22: the tension value , lateral deviation , deviation rate , instantaneous load And running speed ; filtering, denoising and data fusion processing are performed to obtain multi-source fusion data; Step four: target tension force calculation; S41: based on the change of load and speed, the basic tension force required to maintain stable operation is calculated according to formula (1) . (1); In the formula, is the reference tension value; is the load gain; is the reference load amount; is the speed gain; is the reference speed; S42: based on the deviation state, the tension compensation amount for active deviation correction is calculated according to formula (2) . (2); In the formula, is the proportional gain; is the differential gain; S43: combine the basic tension force and the tension compensation amount , the final target tension force applied to the tension execution mechanism is calculated according to formula (3) . (3); Step five: collaborative adjustment of tension deviation correction; S51: generate tension control instructions according to the target tension force and send them to the tension execution mechanism, so that the main tension execution mechanism performs tension adjustment action, and the lateral deviation amount at each monitoring node is collected in real time during the tension adjustment action . S52: when the lateral deviation amount at any monitoring node exceeds the set deviation threshold, generate a local deviation correction instruction corresponding to the monitoring node, and send it to the deviation correction mechanism in the section where the monitoring node is located, so that the deviation correction mechanism performs deviation correction action; Step six: realize closed-loop adaptive control process based on feedback mechanism; Monitor the actual tension value and the actual deviation amount after tension adjustment action, and compare the actual tension value with the expected tension value to obtain the tension difference value, and compare the actual actual deviation amount with the expected deviation amount The comparison is performed to obtain a deviation value, and the proportional gain and the differential gain are adjusted according to the tension difference value and the deviation value and the differential gain to realize closed-loop adaptive control.

[0014] In order to realize closed-loop adaptive adjustment, in step four S42, the proportional gain and the differential gain are adjusted by using a fuzzy PID algorithm for online setting.

[0015] The application provides a kind of adaptive tensioning method of belt conveyor tension and deviation coordination control, real-time acquisition of conveying belt tension, deviation, load and speed data is carried out through multi-source monitoring sensor;Basic tension is calculated based on load and speed change;Deviation compensation is calculated according to deviation state and its change rate;Target tension is obtained by comprehensive and driving executive mechanism;Parameter adaptive module is used for online optimization control parameter.Compared with prior art, the application realizes the innovation of coordinated control mechanism, breaks through the limitation of traditional independent control, and first establishes the coordinated control model of tension and deviation. And By introducing tension dynamic compensation mechanism based on deviation state , longitudinal tension adjustment and transverse deviation suppression are organically integrated, realizing the fundamental change from "passive deviation correction" to "active deviation prevention", and eliminating the deviation causes from the source.The application realizes the innovation of adaptive optimization algorithm, and designs parameter online self-setting strategy, so that the controller used is no longer a fixed parameter controller, but an intelligent control system that can dynamically adjust key parameters And according to actual control effect And . This makes the system have strong robustness to changes in conveyor load, belt characteristics and environment, and always maintains optimal control performance.The application realizes the innovation of hierarchical execution architecture, and the system adopts a hierarchical execution architecture of "global + local". The tension adjustment mechanism is responsible for the macro adjustment of the overall tension level of the system, and the deviation correction mechanism is responsible for the micro fine correction of local serious deviation. This clear division of labor ensures the overall stability of the system, avoids frequent disturbance to the tension adjustment mechanism, and realizes resource optimization and precise control.

[0016] The method can realize real-time sensing of the running state of the conveying belt, calculate the optimal tensioning strategy through intelligent algorithm, and drive the execution mechanism to realize dynamic adjustment, so as to prevent and correct deviation effectively while ensuring that the conveying belt has appropriate working tension, and realize adaptive tensioning control operation of tension stability and deviation suppression coordination control. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 This is a principle block diagram of the system part of this invention; Figure 2 This is a schematic diagram of the system layout in this invention. Detailed Implementation

[0018] The invention will now be further described with reference to the accompanying drawings.

[0019] like Figure 1 and Figure 2 As shown, the present invention provides an adaptive tensioning system for coordinated control of tension and misalignment of a belt conveyor, including a state sensing module, a tensioning adjustment mechanism, a misalignment correction adjustment mechanism, and a central control unit; The state sensing module includes a tension sensor group, a misalignment sensor group, a load detection sensor, and a speed encoder; multiple tension sensor groups are sequentially installed at multiple monitoring nodes along the conveyor's conveying direction (such as the drive roller outlet and the tension roller) to collect tension values. Multiple sets of belt misalignment sensors are installed at intervals on both sides of the conveyor belt's carrying section and return section to collect the lateral misalignment of the conveyor belt edge relative to the idler roller edge. The load detection sensor is mounted on the frame of the conveyor and is used to collect the instantaneous load of the conveyor belt. The speed encoder is mounted on the shaft of the driven roller and is used to collect the running speed of the conveyor belt. Among them, multiple monitoring data form multi-source monitoring data; The tension adjustment mechanism is used to perform tension adjustment actions on the conveyor belt according to the tension control command; The correction and adjustment mechanism is used to perform correction and adjustment actions on the conveyor belt according to the correction control command; The central control unit includes a data preprocessing module, a target tension calculation module, a decision output and collaborative adjustment module, and a parameter adaptive module. The data preprocessing module is used to filter, denoise, and fuse multi-source monitoring data to ensure the accuracy and reliability of the monitoring data, obtaining multi-source fused data. The target tension calculation module is used to calculate the rate of change of deviation based on the multi-source fused data. The calculation (which can be obtained through differential calculation) is used to determine the target tension force based on the coupling relationship between tension and deviation. Calculation; The decision output and coordinated adjustment module is used to determine the target tension force. Tension control commands are issued to the tension adjustment mechanism and used during tension adjustment based on lateral deviation. The difference between the deviation and the set deviation threshold generates a correction control command, which is then sent to the correction adjustment mechanism. The parameter adaptive module is used to base the actual tension value after tensioning and correction adjustments. Actual deviation Calculate the tension difference based on the actual deviation amount after tensioning and correction adjustments. Deviation from Expected The running deviation value is proportionally increased. and differential gain Adjustments.

[0020] To facilitate human-machine interaction, a human-machine interface is also included. The human-machine interface is connected to the central control unit and is used to provide a human-machine interaction interface. The human-machine interface provides operators with a monitoring and management interface, which facilitates the setting of control parameters and the real-time display of monitoring data and dynamic status data. At the same time, it can be used to display fault alarm information and query historical data.

[0021] As a preferred embodiment, the deviation sensor group consists of multiple non-contact displacement sensors or laser rangefinders.

[0022] As a preferred embodiment, the correction adjustment mechanism is a self-aligning idler group with adjustable tilt angle or an airbag-type lateral pressure application mechanism.

[0023] As a preferred embodiment, the tension adjustment mechanism is a hydraulic servo tensioning system or an electric winch tensioning system.

[0024] This invention establishes a collaborative control model for tension and misalignment, designing a complete control system encompassing state perception, central decision-making, and hierarchical execution. This invention overcomes the limitations of traditional independent control, establishing a collaborative control mechanism for tension and misalignment, achieving a shift from "passive correction" to "active prevention." It boasts advantages such as rapid response, strong adaptability, and high control precision, enabling collaborative adaptive control of tension and misalignment in belt conveyors, significantly improving the stability, safety, and economy of belt conveyor operation. This system continuously monitors the conveyor's operating status and dynamically calculates the optimal control strategy. Simultaneously, precise control is achieved through hierarchical actuators, and control parameters are continuously optimized based on feedback results, ensuring stable and efficient operation under various working conditions.

[0025] This system boasts outstanding advantages such as high control precision, fast response speed, and strong adaptability. It can significantly improve the operational stability, safety, and economy of belt conveyors, reduce maintenance costs, and provide important technical support for the construction of intelligent mines and smart factories.

[0026] This invention also provides an adaptive tensioning method for coordinated control of tension and misalignment of a belt conveyor, employing an adaptive tensioning system for coordinated control of tension and misalignment of a belt conveyor, comprising the following steps: Step 1: Installation of the adaptive tension coefficient for coordinated control of belt conveyor tension and misalignment; A status sensing module for collecting conveyor operating status data is installed on the conveyor. The status sensing module includes a tension sensor group, a deviation sensor group, a load detection sensor and a speed encoder, and a connection is established between the status sensing module, the tension adjustment mechanism, the deviation correction adjustment mechanism and the central control unit. Step 2: Real-time acquisition and processing of monitoring data; S21: During the operation of the conveyor, the tension values ​​at multiple monitoring nodes are sensed in real time through the status sensing module. Lateral deviation Instantaneous carrying capacity and running speed And through lateral deviation Calculate the rate of change of deviation ; S22: Tension value Lateral deviation , rate of change of deviation Instantaneous carrying capacity and running speed ; Filtering, denoising, and data fusion are performed to obtain multi-source fused data; Step 4: Calculation of target tension; S41: Based on the changes in load and speed, the basic tension required to maintain stable operation is calculated according to formula (1). ; (1); In the formula, This is the reference tension value; This is the load gain, used to adapt to changes in load; This is the reference load amount; This is the speed gain, used to adapt to changes in speed; As the reference speed; S42: Based on the deviation status, calculate the tension compensation amount for active correction according to formula (2). ; (2); In the formula, For proportional gain; The gain is the differential gain; this formula constitutes a feedforward-feedback composite controller, with the proportional term... Used to eliminate static deviation error, differential term This is used to suppress deviation trends and improve system response speed; S43: Combining basic tension With tension compensation amount The final target tension force applied to the tensioning actuator is calculated according to formula (3). ; (3); Step 5: Coordinated adjustment of tension and correction; S51: Based on the target tension A tension control command is generated and sent to the tension actuator, causing the actuator to perform a tension adjustment. During the tension adjustment, the lateral deviation at each monitoring node is collected in real time. ; S52: Lateral deviation at any monitoring node When the set deviation threshold is exceeded, a local adjustment command corresponding to the monitoring node is generated and sent to the correction and adjustment mechanism in the section where the monitoring node is located, so that the correction and adjustment mechanism can perform the correction and adjustment action. Step Six: Implement closed-loop adaptive control based on feedback mechanism; Monitor the actual tension value after tension adjustment. Actual deviation and the actual tension value Compared with the expected tension value The tension difference is obtained by comparison, and the actual deviation amount is calculated. Deviation from Expected The deviation value is obtained by comparison, and the proportional gain is dynamically optimized and adjusted based on the tension difference and the deviation value. and differential gain This is to achieve closed-loop adaptive control.

[0027] In order to achieve closed-loop adaptive adjustment, in step four, S42, the proportional gain... and differential gain Online tuning can be performed using either a fuzzy PID algorithm or a model reference adaptive control algorithm.

[0028] This invention provides an adaptive tensioning method for coordinated control of tension and belt misalignment in belt conveyors. It utilizes multi-source monitoring sensors to collect real-time data on conveyor belt tension, misalignment, load, and speed; calculates the basic tension force based on load and speed changes; calculates the correction compensation amount based on the misalignment state and its rate of change; synthesizes the target tension force and drives the actuator; and optimizes the control parameters online through a parameter adaptive module. Compared with existing technologies, this invention achieves an innovative coordinated control mechanism, breaking through the limitations of traditional independent control and establishing a coordinated control model for tension and misalignment for the first time. This is achieved by introducing a mechanism based on the misalignment state (…). and ) feedback tension dynamic compensation mechanism ( This invention organically integrates longitudinal tension adjustment with lateral deviation suppression, achieving a fundamental shift from "passive deviation correction" to "active deviation prevention," eliminating the root causes of deviation. The invention also innovates with an adaptive optimization algorithm and designs an online parameter self-tuning strategy. This eliminates the need for a controller with fixed parameters, instead allowing the parameter to be adjusted based on actual control performance. and Dynamically adjust key parameters and The intelligent control system makes the system highly robust to changes in conveyor load, belt characteristics, and environmental conditions, maintaining optimal control performance at all times. This invention features an innovative hierarchical execution architecture, employing a "global + local" hierarchical execution structure. The tension adjustment mechanism is responsible for macroscopic adjustment of the overall tension level, while the deviation correction mechanism is responsible for microscopic and precise correction of severe deviations in specific areas. This clear division of labor ensures the overall stability of the system while avoiding frequent disturbances to the tension adjustment mechanism, achieving resource optimization and precise control.

[0029] This method can sense the operating status of the conveyor belt in real time, calculate the optimal tensioning strategy through intelligent algorithms, and drive the actuator to make dynamic adjustments. In this way, while ensuring that the conveyor belt has a suitable working tension, it can effectively prevent and correct deviation, and thus achieve adaptive tensioning control operation with coordinated control of tension stability and deviation suppression.

Claims

1. An adaptive tensioning system for coordinated control of tension and misalignment of a belt conveyor, comprising a state sensing module, characterized in that, It also includes a tension adjustment mechanism, a correction adjustment mechanism, and a central control unit; The state sensing module includes a tension sensor group, a misalignment sensor group, a load detection sensor, and a speed encoder; multiple tension sensor groups are sequentially installed at multiple monitoring nodes along the conveyor's conveying direction to collect tension values. Multiple sets of belt misalignment sensors are installed at intervals on both sides of the conveyor belt's carrying section and return section to collect the lateral misalignment of the conveyor belt edge relative to the idler roller edge. The load detection sensor is mounted on the frame of the conveyor and is used to collect the instantaneous load of the conveyor belt. The speed encoder is mounted on the shaft of the driven roller and is used to collect the running speed of the conveyor belt. ; The tension adjustment mechanism is used to perform tension adjustment actions on the conveyor belt according to the tension control command; The correction and adjustment mechanism is used to perform correction and adjustment actions on the conveyor belt according to the correction control command; The central control unit includes a data preprocessing module, a target tension calculation module, a decision output and collaborative adjustment module, and a parameter adaptive module. The data preprocessing module is used to filter, denoise, and fuse multi-source monitoring data to obtain multi-source fused data. The target tension calculation module is used to calculate the rate of change of deviation based on multi-source fusion data. The calculation is used to determine the target tension force based on the coupling relationship between tension and deviation. Calculation; The decision output and coordinated adjustment module is used to determine the target tension force. Tension control commands are issued to the tension adjustment mechanism and used during tension adjustment based on lateral deviation. The difference between the deviation and the set deviation threshold generates a correction control command, which is then sent to the correction adjustment mechanism. The parameter adaptive module is used to base the actual tension value after tensioning and correction adjustments. Actual deviation Calculate the tension difference based on the actual deviation amount after tensioning and correction adjustments. Deviation from Expected The running deviation value is proportionally increased. and differential gain Adjustments.

2. The adaptive tensioning system for coordinated control of tension and misalignment of a belt conveyor according to claim 1 or 2, characterized in that, It also includes a human-computer interaction interface, which is connected to the central control unit and is used to provide a human-computer interaction interface.

3. An adaptive tensioning system for coordinated control of tension and misalignment of a belt conveyor according to claim 1 or 2, characterized in that, The deviation sensor group consists of multiple non-contact displacement sensors or laser rangefinders.

4. The adaptive tensioning system for coordinated control of tension and misalignment of a belt conveyor according to claim 3, characterized in that, The correction and adjustment mechanism is a self-aligning idler group with adjustable tilt angle or an airbag-type lateral pressure application mechanism.

5. The adaptive tensioning system for coordinated control of tension and misalignment of a belt conveyor according to claim 4, characterized in that, The tension adjustment mechanism is a hydraulic servo tensioning system or an electric winch tensioning system.

6. An adaptive tensioning method for coordinated control of tension and misalignment of a belt conveyor, comprising an adaptive tensioning system for coordinated control of tension and misalignment of a belt conveyor as described in any one of claims 1 to 5, characterized in that, Includes the following steps: Step 1: Installation of the adaptive tension coefficient for coordinated control of belt conveyor tension and misalignment; A status sensing module for collecting conveyor operating status data is installed on the conveyor, and a connection is established between the status sensing module, the tension adjustment mechanism, the correction adjustment mechanism and the central control unit. Step 2: Real-time acquisition and processing of monitoring data; S21: During the operation of the conveyor, the tension values ​​at multiple monitoring nodes are sensed in real time through the status sensing module. Lateral deviation Instantaneous carrying capacity and running speed And through lateral deviation Calculate the rate of change of deviation ; S22: Tension value Lateral deviation , rate of change of deviation Instantaneous carrying capacity and running speed ; Filtering, denoising, and data fusion are performed to obtain multi-source fused data; Step 4: Calculation of target tension; S41: Based on the changes in load and speed, the basic tension required to maintain stable operation is calculated according to formula (1). ; （1）； In the formula, This is the reference tension value; For load gain; This is the reference load amount; For speed gain; As the reference speed; S42: Based on the deviation status, calculate the tension compensation amount for active correction according to formula (2). ; （2）； In the formula, For proportional gain; This is the differential gain; S43: Combining basic tension With tension compensation amount The final target tension force applied to the tensioning actuator is calculated according to formula (3). ; （3）； Step 5: Coordinated adjustment of tension and correction; S51: Based on the target tension A tension control command is generated and sent to the tension actuator, causing the actuator to perform a tension adjustment. During the tension adjustment, the lateral deviation at each monitoring node is collected in real time. ; S52: Lateral deviation at any monitoring node When the set deviation threshold is exceeded, a local adjustment command corresponding to the monitoring node is generated and sent to the correction and adjustment mechanism in the section where the monitoring node is located, so that the correction and adjustment mechanism can perform the correction and adjustment action. Step Six: Implement closed-loop adaptive control based on feedback mechanism; Monitor the actual tension value after tension adjustment. Actual deviation and the actual tension value Compared with the expected tension value The tension difference is obtained by comparison, and the actual deviation amount is calculated. Deviation from Expected The deviation value is obtained by comparison, and the proportional gain is adjusted according to the tension difference and the deviation value. and differential gain This is to achieve closed-loop adaptive control.

7. The adaptive tensioning system for coordinated control of tension and misalignment of a belt conveyor according to claim 6, characterized in that, In step four, S42, the proportional gain and differential gain The fuzzy PID algorithm is used for online tuning.

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