Motion control method and system for material taking head of embedded scraper ship unloader

Abstract

The invention discloses an embedded scraper ship unloader material taking head motion control method and system. The method comprises the following steps that the target material taking flow and an equipment safety threshold value are obtained; obtaining material basic parameters, wherein the material basic parameters comprise material density and a repose angle standard value; initial working condition data are collected, wherein the initial working condition data comprise the initial draft depth, the initial material surface height and the initial material density; according to the target material taking flow, the equipment safety threshold value, the material basic parameters and the initial working condition data, initial control parameters are calculated through a collaborative optimization algorithm, and the initial control parameters comprise the insertion depth of a material taking head, the rotation speed, the amplitude variation speed and the lifting speed; and the material weight and the material flowing speed are collected in real time to calculate the instantaneous material taking flow. According to the embedded scraper ship unloader material taking head motion control method and system, the fluctuation range of the material taking flow is controlled through the self-adaptive PID algorithm, and the ship unloading operation continuity is guaranteed.

Description

Technical Field

[0001] This application relates to the field of buried scraper unloaders, and in particular to a method and system for controlling the motion of the material handling head of a buried scraper unloader. Background Technology

[0002] The stability and efficiency of the material handling flow rate of the scraper unloader's reclaimer head directly determine the unloading capacity of a bulk cargo terminal. Its motion control needs to balance two core requirements: constant flow rate and efficient material handling. However, current motion control technologies for reclaimers in the industry suffer from large flow rate fluctuations and poor stability. Existing controls often employ a fixed speed combined with manual fine-tuning. When changes in ship draft cause dynamic decreases in material surface height, uneven material accumulation, or density fluctuations, the reclaimer head's insertion depth and movement speed cannot be matched in real time, easily leading to empty reclaiming or material jamming. Flow rate fluctuations often reach ±15%-20%, severely impacting the stable operation of subsequent conveying systems.

[0003] Therefore, it is necessary to provide a method and system for controlling the motion of the scraper unloader's take-up head to solve the above problems. Summary of the Invention

[0004] This application provides a method and system for controlling the motion of the material take-up head of a buried scraper unloader. By using an adaptive PID algorithm, the fluctuation range of the material take-up flow rate is controlled to ensure the continuity of the unloading operation.

[0005] In a first aspect, this application provides a method for controlling the motion of the material handling head of a scraper unloader, the method comprising the following steps: Obtain the target material handling flow rate and the equipment safety threshold, wherein the equipment safety threshold includes the maximum motor load and the maximum insertion depth of the material handling head; Obtain the basic parameters of the material, including the material density and the standard value of the angle of repose; Collect initial operating condition data, which includes initial draft, initial material surface height, and initial material density; Based on the target material handling flow rate, equipment safety threshold, basic material parameters, and initial operating condition data, initial control parameters are calculated using a collaborative optimization algorithm. These initial control parameters include the material handling head insertion depth, rotation speed, amplitude conversion speed, and lifting speed. Real-time data collection of material weight and flow rate is used to calculate instantaneous material handling capacity.

[0006] Preferably, the instantaneous material handling flow rate is calculated using the following formula. :

[0007] in, Pressure in kilograms, For material flow rate, For the width of the conveyor, This refers to the effective length of the scraper.

[0008] Preferably, if the flow deviation is less than or equal to the first threshold, the current control parameters are maintained; if the flow deviation is greater than the first threshold, the adaptive PID algorithm is activated for adjustment. When the flow rate is insufficient, increase the insertion depth of the pick-up head. If the insertion depth has reached the maximum value, increase the rotation speed while maintaining the amplitude conversion speed and rotation speed to ensure continuous coverage of the pick-up path. When the flow rate is excessive, reduce the rotation speed and increase the lifting height of the feed head to prevent material accumulation and jamming.

[0009] Preferably, when an increase in material density is detected, the rotation speed is automatically reduced, and the insertion depth is decreased to avoid motor overload; when the material angle of repose increases, the amplitude conversion speed is increased, and the movement trajectory of the material pick-up head is optimized to ensure that the material smoothly enters the scraper conveyor. Based on the real-time changes in the ship's draft and the material surface height, the lifting height of the material pick-up head is automatically adjusted to compensate for the decrease in material surface height caused by changes in draft, thus maintaining a stable insertion depth.

[0010] Preferably, based on the height distribution of the material surface, the material receiving head is planned to select a spiral or matrix motion trajectory, and the rotation speed and amplitude change speed are coordinated in proportion to ensure that the material receiving head evenly covers the material receiving area and avoids missed or repeated material receiving. When the material handling head approaches the edge of the hull, the telescopic mechanism retracts synchronously, and the lifting mechanism finely adjusts the height to prevent the material handling head from colliding with the hull wall, while maintaining a stable insertion depth and not affecting the material handling flow rate.

[0011] Preferably, the actual movement position of the material receiving head and the motor load data are collected in real time. If the deviation between the actual insertion depth and the control command is greater than the first preset value or the motor load fluctuation is greater than the second preset value, the control parameters are corrected and the output of the servo drive system is adjusted to ensure control accuracy.

[0012] Preferably, the adaptive PID algorithm includes: A preset 5×5 fuzzy matrix is ​​used to account for flow deviations. Divided into 5 levels, deviation change rate Divided into 5 levels; The adjustment amounts of Kp, Ki, and Kd are output based on the flow deviation and the rate of change of the deviation.

[0013] Preferably, the adjustment amounts of Kp, Ki, and Kd output based on the flow deviation and the rate of change of the deviation include: When the flow deviation is greater than the third threshold and the rate of change of the deviation is greater than the fourth threshold, increase Kp to improve the response speed, decrease Ki to avoid overshoot, and moderate Kd to suppress oscillation. When the flow deviation is less than or equal to the third threshold and the flow deviation is greater than the third threshold but less than or equal to the fourth threshold, decrease Kp, increase Ki, and decrease Kd.

[0014] Preferably, the collaborative optimization algorithm includes: With the goal of maximizing material handling efficiency, constraints are established, and the optimal combination of control parameters is solved using the particle swarm optimization algorithm. The material extraction efficiency is calculated using the following formula:

[0015] in, Indicates material handling efficiency. Indicates the instantaneous material handling flow rate. Indicates energy consumption per unit time; The constraints are as follows: ; in, express, Indicates instantaneous motor load. Indicates the maximum load of the motor. Indicates the height of the material surface. This indicates the maximum height of the material surface.

[0016] Secondly, this application also provides a motion control system for the material handling head of a buried scraper unloader, the system comprising: A target material handling flow rate and equipment safety threshold acquisition module is used to acquire the target material handling flow rate and the equipment safety threshold, wherein the equipment safety threshold includes the maximum motor load and the maximum insertion depth of the material handling head; The material basic parameter acquisition module is used to acquire material basic parameters, including material density and standard value of angle of repose; An initial operating condition data acquisition module is used to collect initial operating condition data, which includes initial draft, initial material surface height and initial material density. The initial control parameter calculation module is used to calculate the initial control parameters based on the target material handling flow rate, equipment safety threshold, material basic parameters and initial operating condition data through a collaborative optimization algorithm. The initial control parameters include the material handling head insertion depth, rotation speed, amplitude change speed and lifting speed. The instantaneous material handling flow rate calculation module is used to collect material weight and material flow rate in real time to calculate the instantaneous material handling flow rate.

[0017] This application offers the following advantages over existing technologies: It provides a method and system for controlling the motion of the material handling head of a scraper unloader. The method includes the following steps: acquiring a target material handling flow rate and an equipment safety threshold, the equipment safety threshold including the maximum motor load and the maximum insertion depth of the material handling head; acquiring basic material parameters, including material density and the standard value of the angle of repose; collecting initial operating condition data, including initial draft, initial material surface height, and initial material density; calculating initial control parameters based on the target material handling flow rate, equipment safety threshold, basic material parameters, and initial operating condition data using a collaborative optimization algorithm, the initial control parameters including the insertion depth of the material handling head, rotation speed, amplitude conversion speed, and lifting speed; and real-time acquisition of material weight and material flow velocity to calculate the instantaneous material handling flow rate, and controlling the fluctuation amplitude of the material handling flow rate using an adaptive PID algorithm to ensure the continuity of the unloading operation. Furthermore, based on the flow efficiency collaborative optimization algorithm and multi-dimensional motion collaboration, the material handling efficiency is improved by 15%-25% compared with the traditional fixed speed control, while avoiding work interruptions caused by empty handling and material jamming, and the effective operating rate of the equipment is increased to over 95%. Furthermore, by using motor load monitoring and anomaly handling mechanisms, faults such as motor overload and material head collisions are avoided, reducing equipment downtime by more than 60%. Smooth motion control reduces impact wear on the material head and scraper chain, extending equipment lifespan by 15%-20%. Furthermore, the improved material handling efficiency and reduced downtime due to malfunctions have increased the average daily unloading capacity of a single ship unloader at the terminal by 800-1300 tons; equipment maintenance costs have decreased by 30%, and the intensity of manual operation has decreased by 50%, bringing significant economic benefits to the terminal. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] Figure 1 This is a flowchart illustrating the motion control method for the material handling head of a buried scraper unloader according to an embodiment of this application. Figure 2 This is a schematic diagram of the motion control system for the material handling head of a buried scraper unloader in an embodiment of this application.

[0020] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0021] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0022] To address the aforementioned issues, the embodiments provided in this application offer a method and system for controlling the motion of the material take-up head of a buried scraper unloader. This method utilizes an adaptive PID algorithm to control the fluctuation range of the material take-up flow rate, thereby ensuring the continuity of the unloading operation.

[0023] Figure 1 This is a flowchart illustrating the motion control method for the material handling head of a scraper unloader according to an embodiment of this application. Now refer to... Figure 1 This invention provides a method for controlling the motion of the material handling head of a scraper unloader, the method comprising the following steps: Step S101: Obtain the target material handling flow rate and equipment safety thresholds, including the maximum motor load. and the maximum insertion depth of the pick-up head ; Step S102: Obtain basic material parameters, including material density and standard value of angle of repose; Step S103: Collect initial operating condition data, including initial draft. Initial material surface height and initial material density ; Step S104: Based on the target material handling flow rate Based on equipment safety thresholds, basic material parameters, and initial operating condition data, initial control parameters are calculated using a collaborative optimization algorithm. These initial control parameters include the insertion depth of the material handling head. Rotation speed Amplitude variation speed and lifting speed ; Step S105: Real-time acquisition of material weight and material flow velocity to calculate instantaneous material handling flow rate. .

[0024] Specifically, in step S101, the target material handling flow rate is... The value is set according to the unloading capacity requirements of the terminal, and the range is 50-1000t / h.

[0025] In step S102, the basic material parameters include the density and standard value of the angle of repose of common materials such as coal, ore, and grain.

[0026] It can collect material density, angle of repose, ship draft, and material surface height every 200ms, while also collecting the real-time position of the material head and motor load.

[0027] In specific implementation, the instantaneous material handling flow rate is calculated using the following formula. :

[0028] in, Pressure in kilograms, For material flow rate, For the width of the conveyor, This refers to the effective length of the scraper.

[0029] Specifically, the weighing sensor collects the material weight data of the scraper conveyor 10 times per second, and the flow rate sensor collects the material flow speed simultaneously.

[0030] In practice, if the flow deviation is less than or equal to the first threshold, the current control parameters are maintained; if the flow deviation is greater than the first threshold, the adaptive PID algorithm is activated for adjustment. When the flow rate is insufficient, increase the insertion depth of the pick-up head. If the insertion depth has reached the maximum value, increase the rotation speed while maintaining the amplitude conversion speed and rotation speed to ensure continuous coverage of the pick-up path. When the flow rate is excessive, reduce the rotation speed and increase the lifting height of the feed head to prevent material accumulation and jamming.

[0031] Specifically, the first threshold can be set to 5%. 5% This indicates the stable flow rate threshold. Increase the insertion depth of the feed head, adjusting by ≤50mm per step to avoid impact. Increase the rotation speed, adjusting by ≤10% per cycle.

[0032] In practice, when an increase in material density is detected, the rotation speed is automatically reduced and the insertion depth is decreased to avoid motor overload; when the material angle of repose increases, the amplitude conversion speed is increased and the movement trajectory of the material pick-up head is optimized to ensure that the material enters the scraper conveyor smoothly. Based on the real-time changes in the ship's draft and the material surface height, the lifting height of the material pick-up head is automatically adjusted to compensate for the decrease in material surface height caused by changes in draft, thus maintaining a stable insertion depth.

[0033] Specifically, when an increase in material density is detected, such as when switching from coal to ore, the rotation speed is automatically reduced. The reduction ratio is proportional to the increase in density (e.g., if the material density increases by 20%, the rotation speed is reduced by 15%). At the same time, the insertion depth is reduced to avoid motor overload. When the material's angle of repose increases, indicating that the material's flowability has deteriorated, the amplitude conversion speed is increased to optimize the movement trajectory of the feed head and ensure that the material smoothly enters the scraper conveyor.

[0034] In practice, based on the height distribution of the material surface, the material receiving head is planned to select a spiral or matrix motion trajectory, and the rotation speed and amplitude change speed are coordinated in proportion to ensure that the material receiving head evenly covers the material receiving area and avoids missing or repeated material receiving. When the material handling head approaches the edge of the hull, the telescopic mechanism retracts synchronously, and the lifting mechanism finely adjusts the height to prevent the material handling head from colliding with the hull wall, while maintaining a stable insertion depth and not affecting the material handling flow rate.

[0035] Specifically, rotational speed With amplitude speed Coordination in proportion, , The adjustment is dynamically based on the slope of the material surface.

[0036] In practice, the actual movement position of the material receiving head and the motor load data are collected in real time. If the actual insertion depth deviates from the control command by more than the first preset value or the motor load fluctuation is greater than the second preset value, the control parameters are corrected and the output of the servo drive system is adjusted to ensure control accuracy.

[0037] Specifically, a flow rate averaging calibration can be performed every 30 seconds to calculate the average material feed rate over 30 seconds. , Adjust the proportional coefficient Kp, integral coefficient Ki, and derivative coefficient Kd of the PID algorithm to optimize the control response speed and stability.

[0038] When the material surface height is detected to be ≤0.3m, indicating that there is no material to pick up, or when a stop command is received, the material picker head is raised to a safe height, the material picking movement is stopped, the flow stability data, material picking efficiency and other parameters of this operation are recorded, and the parameter database is updated.

[0039] In specific implementation, the adaptive PID algorithm includes: A preset 5×5 fuzzy matrix is ​​used to account for flow deviations. Divided into 5 levels, deviation change rate Divided into 5 levels; The adjustment amounts of Kp, Ki, and Kd are output based on the flow deviation and the rate of change of the deviation.

[0040] In specific implementation, the adjustment amounts of Kp, Ki, and Kd output based on the flow deviation and the deviation change rate include: When the flow deviation is greater than the third threshold and the rate of change of the deviation is greater than the fourth threshold, increase Kp to improve the response speed, decrease Ki to avoid overshoot, and moderate Kd to suppress oscillation. When the flow deviation is less than or equal to the third threshold and the flow deviation is greater than the third threshold but less than or equal to the fourth threshold, decrease Kp, increase Ki, and decrease Kd.

[0041] In specific implementation, the collaborative optimization algorithm includes: With the goal of maximizing material handling efficiency, constraints are established, and the optimal combination of control parameters is solved using the particle swarm optimization algorithm. The material extraction efficiency is calculated using the following formula:

[0042] in, Indicates material handling efficiency. Indicates the instantaneous material handling flow rate. Indicates energy consumption per unit time; The constraints are as follows: ; in, express, Indicates instantaneous motor load. Indicates the maximum load of the motor. Indicates the height of the material surface. This indicates the maximum height of the material surface.

[0043] Specifically, when the instantaneous motor load If the jamming persists for 300ms, it is determined to be a jam. The feed head is immediately reversed, with a 10° reversal speed, and simultaneously raised 50mm. Normal control resumes after the jam is cleared. For example, if there is a sudden shortage of material or a collapse and accumulation, pause the PID control, maintain the current motion parameters for 1 second, and perform a judgment and adjustment. If the bottoming signal is not triggered, and the pressure is greater than 280 bar for 5 seconds, move the feed head upwards appropriately, and restart the control after the flow rate stabilizes to avoid overload. If the bottoming signal is triggered and the pressure is less than 280 bar, maintain the current state of the feed head and trigger the CMS bottoming prompt.

[0044] The target material handling flow rate and equipment safety threshold acquisition module 21 is used to acquire the target material handling flow rate and the equipment safety threshold, wherein the equipment safety threshold includes the maximum motor load and the maximum insertion depth of the material handling head. Material basic parameter acquisition module 22 is used to acquire material basic parameters, including material density and standard value of angle of repose; The initial working condition data acquisition module 23 is used to acquire initial working condition data, which includes initial draft, initial material surface height and initial material density. The initial control parameter calculation module 24 is used to calculate the initial control parameters based on the target material handling flow rate, equipment safety threshold, material basic parameters and initial working condition data through a collaborative optimization algorithm. The initial control parameters include the material handling head insertion depth, rotation speed, amplitude change speed and lifting speed. The instantaneous material handling flow rate calculation module 25 is used to collect material weight and material flow rate in real time to calculate the instantaneous material handling flow rate.

[0045] In summary, the embodiments of this application provide a method and system for controlling the motion of the material handling head of a scraper unloader. The method includes the following steps: acquiring a target material handling flow rate and an equipment safety threshold, wherein the equipment safety threshold includes the maximum motor load and the maximum insertion depth of the material handling head; acquiring basic material parameters, wherein the basic material parameters include material density and the standard value of the angle of repose; collecting initial operating condition data, wherein the initial operating condition data includes initial draft, initial material surface height, and initial material density; calculating initial control parameters based on the target material handling flow rate, the equipment safety threshold, the basic material parameters, and the initial operating condition data using a collaborative optimization algorithm, wherein the initial control parameters include the insertion depth of the material handling head, rotation speed, amplitude conversion speed, and lifting speed; and collecting material weight and material flow velocity in real time to calculate the instantaneous material handling flow rate, and controlling the fluctuation range of the material handling flow rate through an adaptive PID algorithm to ensure the continuity of the unloading operation. Furthermore, based on the flow efficiency collaborative optimization algorithm and multi-dimensional motion collaboration, the material handling efficiency is improved by 15%-25% compared with the traditional fixed speed control, while avoiding work interruptions caused by empty handling and material jamming, and the effective operating rate of the equipment is increased to over 95%. Furthermore, by using motor load monitoring and anomaly handling mechanisms, faults such as motor overload and material head collisions are avoided, reducing equipment downtime by more than 60%. Smooth motion control reduces impact wear on the material head and scraper chain, extending equipment lifespan by 15%-20%. Furthermore, the improved material handling efficiency and reduced downtime due to malfunctions have increased the average daily unloading capacity of a single ship unloader at the terminal by 800-1300 tons; equipment maintenance costs have decreased by 30%, and the intensity of manual operation has decreased by 50%, bringing significant economic benefits to the terminal.

[0046] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0047] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for controlling the motion of the material handling head of a scraper unloader, characterized in that, The method includes the following steps: Obtain the target material handling flow rate and the equipment safety threshold, wherein the equipment safety threshold includes the maximum motor load and the maximum insertion depth of the material handling head; Obtain the basic parameters of the material, including the material density and the standard value of the angle of repose; Collect initial operating condition data, which includes initial draft, initial material surface height, and initial material density; Based on the target material handling flow rate, equipment safety threshold, basic material parameters, and initial operating condition data, initial control parameters are calculated using a collaborative optimization algorithm. These initial control parameters include the material handling head insertion depth, rotation speed, amplitude conversion speed, and lifting speed. Real-time data collection of material weight and flow rate is used to calculate instantaneous material handling capacity.

2. The method for controlling the movement of the scraper unloader's material handling head according to claim 1, characterized in that, The instantaneous material handling flow rate is specifically calculated using the following formula. : in, Pressure in kilograms For material flow rate, For the width of the conveyor, This refers to the effective length of the scraper.

3. The method for controlling the movement of the scraper unloader's material handling head according to claim 1, characterized in that, If the flow deviation is less than or equal to the first threshold, maintain the current control parameters; if the flow deviation is greater than the first threshold, activate the adaptive PID algorithm for adjustment. When the flow rate is insufficient, increase the insertion depth of the pick-up head. If the insertion depth has reached the maximum value, increase the rotation speed while maintaining the amplitude conversion speed and rotation speed to ensure continuous coverage of the pick-up path. When the flow rate is excessive, reduce the rotation speed and increase the lifting height of the feed head to prevent material accumulation and jamming.

4. The method for controlling the movement of the scraper unloader's material handling head according to claim 1, characterized in that, When an increase in material density is detected, the rotation speed is automatically reduced, and the insertion depth is decreased to avoid motor overload; when the material angle of repose increases, the amplitude conversion speed is increased, and the movement trajectory of the pick-up head is optimized to ensure that the material enters the scraper conveyor smoothly. Based on the real-time changes in the ship's draft and the material surface height, the lifting height of the material pick-up head is automatically adjusted to compensate for the decrease in material surface height caused by changes in draft, thus maintaining a stable insertion depth.

5. The method for controlling the movement of the scraper unloader's material handling head according to claim 1, characterized in that, Based on the height distribution of the material surface, the material receiving head is planned to select a spiral or matrix motion trajectory, and the rotation speed and amplitude change speed are coordinated in proportion to ensure that the material receiving head evenly covers the material receiving area and avoids missed or repeated material receiving. When the material handling head approaches the edge of the hull, the telescopic mechanism retracts synchronously, and the lifting mechanism finely adjusts the height to prevent the material handling head from colliding with the hull wall, while maintaining a stable insertion depth and not affecting the material handling flow rate.

6. The method for controlling the movement of the scraper unloader's material handling head according to claim 1, characterized in that, The system collects real-time data on the actual movement position of the material receiving head and the motor load. If the actual insertion depth deviates from the control command by more than the first preset value or the motor load fluctuation exceeds the second preset value, the control parameters are corrected and the output of the servo drive system is adjusted to ensure control accuracy.

7. The method for controlling the movement of the scraper unloader's material handling head according to claim 3, characterized in that, The adaptive PID algorithm includes: A preset 5×5 fuzzy matrix is ​​used to account for flow deviations. Divided into 5 levels, deviation change rate Divided into 5 levels; The adjustment amounts of Kp, Ki, and Kd are output based on the flow deviation and the rate of change of the deviation.

8. The method for controlling the movement of the material handling head of a scraper unloader according to claim 7, characterized in that, The adjustment amounts of Kp, Ki, and Kd output based on the flow deviation and the rate of change of the deviation include: When the flow deviation is greater than the third threshold and the rate of change of the deviation is greater than the fourth threshold, increase Kp to improve the response speed, decrease Ki to avoid overshoot, and moderate Kd to suppress oscillation. When the flow deviation is less than or equal to the third threshold and the flow deviation is greater than the third threshold but less than or equal to the fourth threshold, decrease Kp, increase Ki, and decrease Kd.

9. The method for controlling the movement of the material handling head of a scraper unloader according to claim 1, characterized in that, The collaborative optimization algorithm includes: With the goal of maximizing material handling efficiency, constraints are established, and the optimal combination of control parameters is solved using the particle swarm optimization algorithm. The material extraction efficiency is calculated using the following formula: in, Indicates material handling efficiency. Indicates the instantaneous material handling flow rate. Indicates energy consumption per unit time; The constraints are as follows: ; in, express, Indicates instantaneous motor load. Indicates the maximum load of the motor. Indicates the height of the material surface. This indicates the maximum height of the material surface.

10. A motion control system for the material handling head of a buried scraper unloader, characterized in that, The system includes: A target material handling flow rate and equipment safety threshold acquisition module is used to acquire the target material handling flow rate and the equipment safety threshold, wherein the equipment safety threshold includes the maximum motor load and the maximum insertion depth of the material handling head; The material basic parameter acquisition module is used to acquire material basic parameters, including material density and standard value of angle of repose; An initial operating condition data acquisition module is used to collect initial operating condition data, which includes initial draft, initial material surface height and initial material density. The initial control parameter calculation module is used to calculate the initial control parameters based on the target material handling flow rate, equipment safety threshold, material basic parameters and initial operating condition data through a collaborative optimization algorithm. The initial control parameters include the material handling head insertion depth, rotation speed, amplitude change speed and lifting speed. The instantaneous material handling flow rate calculation module is used to collect material weight and material flow rate in real time to calculate the instantaneous material handling flow rate.

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