Ball mill filling control method and device, electronic equipment and storage medium

Abstract

The invention provides a ball mill filling control method and device, electronic equipment and a storage medium, and belongs to the technical field of ball mill control. If the proportion of the specified frequency band signal in the vibration signal and the current of the main motor are out of respective corresponding preset value ranges, outputting a material quantity adjusting signal so as to control the feeding and discharging mechanism to adjust the material quantity in the ball mill; in the process of adjusting the material quantity, if the change rate of the material quantity within the set time length is smaller than or equal to a preset change rate threshold value, the grinding medium filling rate is determined based on the current of the main motor, the material quantity and the rotating speed of the main motor; and the difference value between the grinding medium filling rate and a preset target filling rate is calculated, and filling control over the grinding medium is conducted based on the difference value. According to the ball mill filling control method and device, the electronic equipment and the storage medium, the grinding effect of the ball mill can be improved.

Description

Technical Field

[0001] This application belongs to the field of ball mill control technology, and more specifically, relates to a ball mill filling control method and device, electronic equipment, and storage medium. Background Technology

[0002] Ball mills are core equipment in industrial grinding, widely used in mining, building materials, and chemical industries. They utilize the rotation of the cylinder to drive the internal grinding media (such as steel balls / segments) in a cascading motion, crushing lumpy materials to the required particle size through the impact and grinding action of the media. This is a crucial step in material crushing. The grinding media filling rate (the percentage of media volume to the effective volume of the mill) is a core process parameter for ball mill operation, and its control precision directly determines grinding efficiency and production costs: if the filling rate is too low, the impact energy of the media is insufficient, leading to incomplete grinding of the material and substandard product particle size; if the filling rate is too high, the media movement space is restricted, collision and friction losses increase, the motor load spikes, and grinding efficiency actually decreases.

[0003] While impacting and crushing materials, the grinding media themselves gradually become smaller, rounder, and even broken. Over time, the total mass of the grinding media decreases, and their diameter shrinks, leading to a continuous decline in the filling rate within the ball mill and a reduction in grinding capacity. Therefore, continuous filling of the grinding media is necessary.

[0004] Existing ball mill filling methods typically involve filling the grinding media at a fixed cycle. Due to the dynamic changes in material hardness and quantity, this fixed-cycle filling method is prone to "underfilling" or "overfilling," which can affect the grinding effect of the ball mill. Summary of the Invention

[0005] This application provides a ball mill filling control method and apparatus, electronic device, and storage medium to solve the problem of poor grinding effect in existing ball mills and achieve the goal of improving the grinding effect of ball mills. To achieve the above objective, the technical solution provided by this application is as follows: In a first aspect, a ball mill filling control method is provided for controlling the filling of grinding media in a ball mill, the grinding media being used to grind materials in the ball mill, comprising: Acquire the operating data of the ball mill; the operating data includes the main motor current, the vibration signal of the ball mill cylinder, and the main motor speed; If the proportion of the specified frequency band signal in the vibration signal and the main motor current both fall outside their respective preset value ranges, a material quantity adjustment signal is output to control the feeding and discharging mechanism to adjust the material quantity in the ball mill; the specified frequency band signal is a signal whose corresponding frequency is less than a preset frequency threshold. During the process of adjusting the amount of material, if the rate of change of the amount of material within a set time period is less than or equal to a preset rate of change threshold, the grinding media filling rate is determined based on the main motor current, the amount of material, and the main motor speed. Calculate the difference between the grinding media filling rate and the preset target filling rate, and control the filling of the grinding media based on the difference.

[0006] Secondly, a ball mill filling control device is provided for controlling the filling of grinding media in a ball mill, the grinding media being used to grind materials in the ball mill, comprising: The data acquisition module is used to acquire the operating data of the ball mill; the operating data includes the main motor current, the vibration signal of the ball mill cylinder, and the main motor speed. The material quantity adjustment module is used to output a material quantity adjustment signal when the proportion of the specified frequency band signal in the vibration signal and the main motor current both fall outside their respective preset value ranges, so as to control the feeding and discharging mechanism to adjust the material quantity in the ball mill; the specified frequency band signal is a signal whose corresponding frequency is less than a preset frequency threshold. The filling rate calculation module is used to determine the grinding media filling rate based on the main motor current, the material quantity, and the main motor speed when the material quantity is adjusted. If the rate of change of the material quantity within a set time period is less than or equal to a preset rate of change threshold, the filling rate is used to determine the grinding media filling rate. The filling control module is used to calculate the difference between the filling rate of the grinding media and the preset target filling rate, and to control the filling of the grinding media based on the difference.

[0007] Thirdly, embodiments of this application also provide an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the ball mill filling control method provided in any possible implementation of the first aspect.

[0008] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the ball mill filling control method provided by any possible implementation of the first aspect.

[0009] The beneficial effects of the technical solution provided in this application are as follows: Compared with related technologies, the ball mill filling control method, device, electronic equipment, and storage medium provided in this application first adjust the material quantity to a reasonable range based on the vibration signal of the ball mill cylinder and the main motor current. After the material quantity is adjusted, the grinding media filling rate is determined based on the main motor current, material quantity, and main motor speed. This can avoid the calculation deviation of the grinding media filling rate caused by fluctuations in the material quantity. By controlling the filling of the ball mill based on the accurate grinding media filling rate and reasonable material quantity, the precise matching of grinding media and material quantity can be achieved, thereby improving the grinding effect. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0011] Figure 1 A schematic flowchart of the ball mill filling control method provided in the embodiments of this application; Figure 2 This is a structural block diagram of the ball mill filling control device provided in the embodiments of this application; Figure 3 A schematic block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0012] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0013] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” can be implemented as “A,” or as “B,” or as “A and B.” When describing multiple (two or more) items, if the relationship between the multiple items is not explicitly defined, the multiple items can refer to one, several or all of the multiple items. For example, the description of "parameter A includes A1, A2, A3" can be implemented as parameter A includes A1 or A2 or A3, or it can be implemented as parameter A includes at least two of the three items A1, A2 and A3.

[0014] To make the objectives, technical solutions, and advantages of this application clearer, the following description will be provided in conjunction with the accompanying drawings and specific embodiments.

[0015] This application provides a ball mill filling control method for controlling the filling of grinding media in a ball mill. The grinding media are used to grind materials in the ball mill. This method can be executed by the ball mill's controller. Figure 1 As shown, the method may include: S101: Acquire the operating data of the ball mill; the operating data includes the main motor current, the vibration signal of the ball mill cylinder, and the main motor speed.

[0016] In this embodiment, the power source of the ball mill is typically referred to as the main motor. The main motor drives the ball mill cylinder to rotate, causing the grinding media inside the cylinder to rotate with the cylinder and form grinding movements such as throwing and cascading, thereby grinding the material in the ball mill. A current transmitter (such as a Hall effect current sensor) can be connected in series in the power supply circuit of the ball mill main motor to detect the main motor current in real time and send it to the controller. At the same time, a piezoelectric vibration sensor (such as a vibration meter) is fixed on the ball mill cylinder to collect the vibration acceleration signal of the cylinder as the vibration signal of the ball mill cylinder and send it to the controller. In addition, a photoelectric / magnetoelectric speed sensor can be installed on the output shaft of the main motor or at the drive wheel of the ball mill cylinder to detect the speed of the main motor and send it to the controller. S102: If the proportion of the specified frequency band signal in the vibration signal and the main motor current both fall outside their respective preset value ranges, then output a material quantity adjustment signal to control the feeding and discharging structure to adjust the material quantity in the ball mill; the specified frequency band signal is a signal whose corresponding frequency is less than the preset frequency threshold.

[0017] In this embodiment, the main operating frequency of the main motor is 50Hz. By performing spectral analysis on the vibration signal, the power of each frequency band in the vibration signal can be obtained. The ratio of the power of each frequency band signal to the power of all frequency band signals in the vibration signal is calculated as the power proportion of each frequency band signal. The main operating frequency of the main motor is used as a preset frequency threshold. Signals with frequencies lower than the frequency threshold are used as low-frequency signals in the vibration signal, i.e., signals of a specified frequency band. The power proportion of the specified frequency band signal is used as the proportion of the specified frequency band signal in the vibration signal.

[0018] Considering that excessive material in the ball mill cylinder can cause the material to envelop the grinding media, preventing it from falling properly and creating an effective impact, resulting in inefficient cascading and sliding, and insufficient grinding, as well as excessive material leading to excessive load on the cylinder and potential overload of the main motor, and conversely, insufficient material in the ball mill cylinder can cause rigid dry-firing of the grinding media, with most of the power consumed in metal impact and equipment vibration, resulting in a low proportion of effective grinding power. Furthermore, the high-frequency, high-amplitude vibrations generated by dry-firing can exacerbate the cracking and wear of the cylinder liner and grinding media. Therefore, during the grinding process, it is necessary to adjust the material quantity in the cylinder to ensure that it remains within the optimal range for the process, avoiding the problems of main motor overload and poor grinding effect caused by excessive material, and dry-firing of the grinding media and low grinding efficiency caused by insufficient material.

[0019] Specifically, considering that when there is too much material inside the ball mill cylinder, the load on the main motor is excessive, which can easily cause the main motor current to exceed the upper limit of the preset range. Simultaneously, the grinding media are enveloped by the material, and the vibration signal of the cylinder is dominated by low-frequency vibration, significantly increasing the proportion of low-frequency signals. Conversely, when there is too little material inside the cylinder, the load on the main motor is too low, which can easily cause the main motor current to fall below the minimum value of the preset range. Furthermore, the grinding media operating without contact with the ground causes chaotic cylinder vibration, significantly reducing the proportion of low-frequency signals in the vibration signal. Therefore, the material quantity can be adjusted based on the proportion of low-frequency signals in the vibration signal and the main motor current.

[0020] For example, if the proportion of the specified frequency band signal in the vibration signal and the main motor current both fall outside their respective preset value ranges, a material quantity adjustment signal is output to control the feeding and discharging mechanism to adjust the material quantity in the ball mill; otherwise, no material quantity adjustment is required. The feeding and discharging mechanism includes a feeding mechanism and a discharging mechanism. If the proportion of the specified frequency band signal in the vibration signal and the main motor current both fall outside their respective preset value ranges, a material quantity adjustment signal is output to control the feeding and discharging mechanism to adjust the material quantity in the ball mill, including: If the main motor current is greater than the preset first current threshold and the proportion of the specified frequency band signal in the vibration signal is greater than the preset first proportion threshold, then the first control signal is output as the material quantity adjustment signal to control the discharge mechanism to reduce the material quantity. If the main motor current is less than the preset second current threshold and the proportion of the specified frequency band signal in the vibration signal is less than the preset second proportional threshold, then the second control signal is output as the material quantity adjustment signal to control the feeding mechanism to increase the material quantity. The second current threshold is less than the first current threshold, the second proportional threshold is less than the first proportional threshold, the first current threshold and the second current threshold constitute the range of the main motor current, and the first proportional threshold and the second proportional threshold constitute the range of the vibration signal.

[0021] In this embodiment, the range of the main motor current is composed of a first current threshold and a second current threshold, where the first current threshold is the upper limit and the second current threshold is the lower limit. The first current threshold can be 95% of the main motor's rated current, with a 5% reserve to avoid triggering the main motor overload protection. The second current threshold can be 1.5 times the main motor's no-load current, 50% higher than the no-load current, to avoid misinterpreting small fluctuations in current under normal operating conditions of the ball mill as insufficient material.

[0022] Correspondingly, the range of the proportion of the specified frequency band signal in the vibration signal consists of a first proportional threshold and a second proportional threshold, where the first proportional threshold is the upper limit and the second proportional threshold is the lower limit. The first proportional threshold can be taken as 95% of the proportion of the specified frequency band signal when the ball mill is operating at full load, with a 5% margin to avoid misinterpreting a slight increase in the proportion of the specified frequency band caused by small fluctuations as an overload of material. The second proportional threshold can be taken as twice the proportion of the specified frequency band signal when the ball mill is running unloaded, which is 100% higher than the proportion of the specified frequency band signal under unload conditions. This effectively avoids misinterpreting a slight decrease in the proportion of the specified frequency band under normal operating conditions as insufficient material.

[0023] Based on this, if the main motor current is greater than the preset first current threshold and the proportion of the specified frequency band signal in the vibration signal is greater than the preset first proportional threshold, it indicates that the material quantity is too high. The controller can output a first control signal (such as a discharge valve opening signal) to the discharge mechanism to control the discharge mechanism to perform the discharge action. If the main motor current is less than the preset second current threshold and the proportion of the specified frequency band signal in the vibration signal is less than the preset second proportional threshold, it indicates that the material quantity is too low. The controller can output a second control signal (such as a feed valve opening signal) to the feed mechanism to control the feed mechanism to perform the feed action.

[0024] S103: During the process of adjusting the material quantity, if the rate of change of the material quantity within the set time is less than or equal to the preset rate of change threshold, the grinding media filling rate is determined based on the main motor current, material quantity and main motor speed.

[0025] In this embodiment, considering that the higher the grinding media filling rate and the greater the number of grinding media, the greater the grinding media power required to drive its movement, the grinding media power can be calculated first, and then the grinding media filling rate can be calculated based on the positive correlation between the grinding media power and the grinding media filling rate.

[0026] Specifically, the calculation of grinding media power is related to the main motor current, material quantity (mass of the material to be ground), and main motor speed. The input power of the main motor, i.e., the total input power of the ball mill, can be calculated from the main motor current; the higher the main motor current, the higher the total input power of the ball mill. Subtracting the main motor electromechanical conversion losses, transmission system mechanical losses, and grinding power transmission losses from the total input power of the ball mill yields the effective power of the ball mill. The effective power of the ball mill can be further divided into the grinding media power consumed by the grinding media and the material power consumed by the material. Therefore, after calculating the material power consumed based on the material quantity, subtracting the material power from the effective power of the ball mill yields the grinding media power. The specific calculation process is detailed in the following embodiment.

[0027] Furthermore, both the feeding and discharging mechanisms of the ball mill are equipped with weighing devices to detect the feed and discharge rates respectively. Based on the feed and discharge rates, as well as the initial material quantity, the real-time material quantity can be calculated. The specific calculation formula is as follows: Material quantity = Initial material quantity + Feed quantity - Discharge quantity.

[0028] During the adjustment of the material quantity, multiple material quantities within a set time period can be obtained. The maximum value among these quantities is taken as the maximum material quantity, and the minimum value is taken as the minimum material quantity. The average value of these quantities, as well as the difference between the maximum and minimum values, are calculated. The difference between the maximum and minimum values ​​is then divided by the average value to obtain the rate of change of the material quantity within the set time period. If the rate of change of the material quantity within the set time period is less than or equal to a preset threshold, it indicates that the material quantity has stabilized and has been adjusted to a reasonable range. At this point, based on the stable material quantity, main motor current, and main motor speed, accurate grinding media power can be obtained, and consequently, accurate grinding media filling rate can be obtained based on accurate grinding media power.

[0029] The set duration and the preset change rate threshold are both preset constants. Based on practical experience, if the change rate of the material in the ball mill is ≤3%~5% within 10~30 s, it can be determined that the material has stabilized. Therefore, in this embodiment, the set duration can be set to 20 s and the change rate threshold can be set to 5%.

[0030] S104: Calculate the difference between the grinding media filling rate and the preset target filling rate, and control the filling of the grinding media based on the difference.

[0031] In this embodiment, the target filling rate is a preset constant. Under this filling rate condition, the grinding effect is optimal. Those skilled in the art can set the specific value of the target filling rate according to actual needs, such as 30%. After obtaining the grinding media filling rate through step S103, the difference between the current grinding media filling rate and the preset target filling rate can be calculated. Based on the magnitude and direction of the difference, a filling control signal is output, and the filling control of the grinding media is performed based on the difference, so that the grinding media filling rate approaches the target filling rate.

[0032] Specifically, if the difference is less than a preset first threshold, the filling amount is determined based on the difference, and the filling mechanism is controlled to fill the grinding media based on the filling amount. If the difference is greater than the preset second threshold, the discharge amount is determined based on the difference, and the discharge amount is used to control the filling mechanism to discharge the grinding media; wherein, the second threshold is greater than the first threshold.

[0033] In this embodiment, a first threshold and a second threshold can be preset to form a reasonable range of the difference between the current grinding media filling rate and the preset target filling rate. For example, the first threshold can be -3% and the second threshold can be 5%. When the difference between the current grinding media filling rate and the preset target filling rate is in the range of [-3%, 5%], it indicates that the current grinding media filling rate is normal and no filling or discharge operation is required.

[0034] If the difference between the current grinding media filling rate and the preset target filling rate is less than a preset first threshold, it indicates that there is too little grinding media and a filling operation is required. In this case, the filling amount can be determined based on the above difference, and the filling mechanism can be controlled to fill the grinding media based on the filling amount.

[0035] For example, the grinding media filling rate refers to the percentage of the accumulated volume of grinding media (such as steel balls or steel segments) inside the ball mill cylinder to the effective volume of the cylinder. Therefore, the filling amount can be calculated using the following formula: ; in, Indicates the filling volume. This indicates the preset correction factor. This represents the difference between the current grinding media filling rate and the preset target filling rate. This indicates the volume of the ball mill cylinder. This indicates the bulk density of the grinding media.

[0036] It should be noted that, considering the filling abrasive media is unworn, such as newly filled, unworn steel balls, which contribute more to the volumetric efficiency and impact energy compared to worn steel balls, a correction factor less than 1 is set in the above calculation formula. (e.g., 0.9) to calculate the actual effective filling effect of the newly filled grinding media, offsetting the effects of its high volume ratio and excessive impact energy caused by the lack of wear, so that the filling amount calculation fits the actual grinding conditions and ensures grinding efficiency.

[0037] Correspondingly, if the difference between the current grinding media filling rate and the preset target filling rate is greater than the preset second threshold, it indicates that the filling rate is seriously too high (this situation rarely occurs), and the machine needs to be stopped to discharge some of the grinding media. At this time, the discharge amount can be determined based on the above difference, and the filling mechanism can be controlled to discharge the grinding media based on the discharge amount.

[0038] For example, emissions can be calculated using the following formula: ; in, Indicates emissions. This represents the difference between the current grinding media filling rate and the preset target filling rate. This indicates the volume of the ball mill cylinder. This indicates the bulk density of the grinding media.

[0039] As can be seen from the above, this embodiment first adjusts the material quantity to a reasonable range based on the vibration signal of the ball mill cylinder and the main motor current. After the material quantity is adjusted, the grinding media filling rate is determined based on the main motor current, material quantity, and main motor speed. This can avoid the calculation deviation of the grinding media filling rate caused by fluctuations in the material quantity. By controlling the filling of the ball mill based on the accurate grinding media filling rate and reasonable material quantity, the precise matching of grinding media and material quantity can be achieved, thereby improving the grinding effect.

[0040] In one embodiment of this application, the material is a mineral slurry, and the amount of material is the mass of minerals in the mineral slurry; The determination of the grinding media filling rate based on the main motor current, material quantity, and main motor speed includes: Obtain the main motor voltage, preset main motor power factor, preset main motor rated efficiency, preset main motor transmission efficiency, slurry concentration, and particle size of minerals in the slurry; The input power of the main motor is determined based on the main motor voltage, main motor current and main motor power factor. The effective power of the main motor is determined based on the input power, main motor rated efficiency and main motor transmission efficiency. The grinding efficiency of the ball mill is determined based on the main motor speed. The effective power of the ball mill is determined based on the effective power of the main motor and the grinding efficiency. The material power is determined based on the material quantity, slurry concentration, and particle size of the minerals in the slurry. The power of the grinding media is determined based on the effective power of the ball mill and the power of the material. The grinding media filling rate is determined based on the grinding media power and a preset first mapping relationship; the first mapping relationship is used to characterize the correspondence between the grinding media power and the grinding media filling rate.

[0041] In this embodiment, the ball mill is mainly used for wet grinding, and the input material is mineral slurry. The calculation of the material quantity only considers the mass of minerals in the slurry. When determining the grinding media filling rate based on the main motor current, material quantity, and main motor speed, the main motor voltage can be obtained first by a voltage sensor installed at the main motor's input terminal. The main motor power factor (e.g., 0.9) and rated efficiency (0.92) can be obtained from the main motor's manufacturer's technical manual, and the main motor transmission efficiency can be obtained from the main motor's transmission system technical manual. These parameters are saved in advance as preset parameters to the ball mill's controller. Based on this, according to the main motor's electrical principle, the input power of the main motor can be determined first based on the main motor voltage, the preset main motor power factor, and the preset main motor rated efficiency. The specific calculation formula is as follows: ; in, This indicates the input power of the main motor. Indicates the main motor voltage. Indicates the main motor current. This indicates the power factor of the main motor.

[0042] Then, multiply the input power of the main motor by its rated efficiency, and subtract the main motor's own copper losses, iron losses, and mechanical losses to obtain the power of the main motor's output shaft: ; in, This indicates the power of the main motor output shaft. This indicates the input power of the main motor. This indicates the rated efficiency of the main motor.

[0043] Furthermore, by multiplying the power of the main motor output shaft by the main motor transmission efficiency, and deducting the transmission losses of traditional systems such as couplings and reducers, the effective power of the main motor is obtained, which is the power of the main motor acting on the ball mill cylinder: ; in, Indicates the effective power of the main motor. This indicates the power of the main motor output shaft. This indicates the main motor transmission efficiency.

[0044] Furthermore, considering that the motion state of the grinding media inside the ball mill cylinder is determined by the cylinder rotation speed (equal to the main motor rotation speed), at the rated speed, the grinding media rises with the cylinder to the optimal drop height and then falls in a parabolic motion, maximizing the effective impact energy and resulting in the highest grinding efficiency of the ball mill. When the cylinder rotation speed is less than the rated speed, the grinding media rises with the cylinder to a certain height and then slides down the inclined plane without significant drop action, resulting in low effective impact energy and low grinding efficiency of the ball mill. When the cylinder rotation speed is greater than the rated speed, the drop motion of the grinding media deviates from the optimal state and gradually approaches centrifugal motion, causing a rapid decrease in grinding efficiency. Therefore, this embodiment determines the grinding efficiency of the ball mill based on the main motor rotation speed. For example, the grinding efficiency of the ball mill can be calculated using the following formula: ; in, This indicates the grinding efficiency of the ball mill. This indicates the rated speed of the cylinder, which is also the rated speed of the main motor. This indicates the rotational speed of the cylinder, which is also the speed of the main motor. This indicates the low-speed deviation coefficient. This represents the overspeed deviation coefficient. .

[0045] In the above formula, considering that at high speeds, the centrifugal force of the mill cylinder increases quadratically with increasing speed, and the motion state of the grinding media rapidly shifts from optimal throwing to centrifugal adhesion, leading to a significant decrease in grinding efficiency, a low-speed deviation coefficient is set. Less than the overspeed deviation coefficient , and The specific value can be obtained through experimental calibration, for example... , .

[0046] Furthermore, based on the effective power of the main motor and the grinding efficiency of the ball mill, the effective power of the main motor and the grinding efficiency of the ball mill are multiplied together to deduct the grinding power transmission loss, thus obtaining the effective power of the ball mill.

[0047] The effective power of a ball mill is the total power actually used for grinding operations. According to the principle of energy conservation, the effective power of a ball mill can be decomposed into the sum of material power and grinding media power. Among them, material power is the energy consumption to overcome the binding force of mineral particles and achieve the crushing and grinding of large-particle minerals to the target particle size, which is determined by material characteristics such as material quantity, slurry concentration, and mineral particle size; grinding media power is the energy consumption to drive the grinding media to perform throwing, cascading, and grinding movements.

[0048] Specifically, the material power can be calculated using the following formula: ; in, ; in, Indicates the power of the material. This represents a preset proportionality coefficient, indicating the material power corresponding to a unit amount of material. The specific value can be obtained through offline experimental calibration, for example... , This indicates the quantity of material, in tons (t). This represents the correction factor for slurry concentration. Indicates the concentration of the slurry (mass concentration). Indicates the reference pulp concentration. The specific value can be obtained based on experience. For example, 70% means that the higher the slurry concentration and the greater the viscosity, the stronger the damping effect of the material on the grinding media and the higher the power consumption. This represents the mineral grain size correction factor. Indicates the grain size of minerals. Indicates reference mineral grain size. The specific value can be obtained based on experience. For example, 15mm is a good indicator. The coarser the mineral particle size, the greater the material power required.

[0049] Based on the effective power of the ball mill and the material power, the grinding media power can be obtained by subtracting the effective power of the ball mill from the material power. ; in, Indicates the power of the grinding media. Indicates the effective power of the ball mill. Indicates the power of the material.

[0050] Based on this, by substituting the grinding media power into the pre-constructed first mapping relationship, the grinding media filling rate corresponding to the grinding media power can be obtained.

[0051] As can be seen from the above, this embodiment couples the motor power transmission process, the ball mill grinding process, and the material grinding characteristics for analysis. Through the step-by-step derivation of "input power - effective power of the main motor - effective power of the ball mill - material power - grinding media power", the grinding media power directly related to the grinding media filling rate can be accurately extracted. Based on the accurate grinding media power, the grinding media filling rate can be accurately detected.

[0052] In one embodiment of this application, determining the grinding media filling rate based on the grinding media power and a preset first mapping relationship includes: The wear correction coefficient is determined based on the cumulative operating time of the liner in the ball mill; The power of the grinding media is corrected based on the wear correction coefficient to obtain the corrected power of the grinding media; The grinding media filling rate is determined based on the corrected grinding media power and the preset first mapping relationship.

[0053] In this embodiment, the ball mill liner is a component inside the cylinder that directly contacts the grinding media and materials. It protects the cylinder, increases the drop height of the grinding media (enhancing the grinding effect), and drives the materials and media to move synchronously. As the operating time increases, the liner will experience uniform / localized wear due to the impact of the grinding media and the friction of the materials, resulting in a decrease in the surface roughness and effective height of the liner. Ultimately, this leads to a decrease in the actual grinding efficiency under the same grinding media power.

[0054] Therefore, in this embodiment, after obtaining the grinding media power, the wear correction coefficient can be determined based on the cumulative running time of the liner in the ball mill. The wear correction coefficient is multiplied by the grinding media power to obtain the corrected grinding media power. Then, based on the corrected grinding media power and the preset first mapping relationship, the grinding media filling rate is determined.

[0055] For example, the wear correction factor can be calculated using the following formula: ; in, This represents the wear correction factor. Indicates the cumulative operating time of the liner. This indicates the service life of the liner.

[0056] As can be seen from the above, this embodiment corrects the grinding media power based on the cumulative running time of the liner to obtain the corrected grinding media power. The corrected grinding media power is closer to the actual effective work state of the grinding media. The grinding media filling rate is determined based on the corrected grinding media power, which can further improve the detection results of the grinding media filling rate.

[0057] In one embodiment of this application, the method for determining the preset first mapping relationship includes: Determine multiple combinations of operating conditions for material quantity and main motor speed; Acquire multiple sets of historical data corresponding to each working condition combination; each set of historical data includes historical data corresponding to the main motor current and the grinding media filling rate. Under each working condition combination, a second mapping relationship between grinding media power and grinding media filling rate is fitted based on multiple sets of historical data corresponding to that working condition combination. Multiple sets of joint data are determined based on the fitting coefficients in each working condition combination and the corresponding second mapping relationship; Using each fitting coefficient as the dependent variable and the material quantity and main motor speed as independent variables, a third mapping relationship between each fitting coefficient and the material quantity and main motor speed is fitted based on multiple sets of joint data. Substituting the third mapping relationship into the second mapping relationship yields the first mapping relationship.

[0058] In this embodiment, considering that the grinding media power and the grinding media filling rate have a quadratic parabolic relationship (consistent with Bond's grinding theory, increasing first and then decreasing), and are also affected by the main motor speed and material quantity, the process of constructing the first mapping relationship includes two steps: (1) For each combination of material quantity and main motor speed, acquire multiple sets of historical data under that combination, and fit a second mapping relationship between grinding media power and grinding media filling rate based on the multiple sets of historical data. For example, the second mapping relationship can take the following form: ; in, Indicates the power of the grinding media. Indicates the filling rate of the grinding media. , , All of these are fitting coefficients in the second mapping relationship.

[0059] Using the same method, a second mapping relationship can be obtained corresponding to multiple working condition combinations of material quantity and main motor speed.

[0060] (2) By combining the fitting coefficients in each working condition combination with the corresponding material quantity and main motor speed to form a set of joint data, multiple sets of joint data can be obtained. For example, M sets of joint data can be: ( , , , , (), , , , , ),...( , , , , ... ( , , , , For any set of joint data ( , , , , ),in, , This represents a combination of operating conditions. , , The fitting coefficients are for this combination of operating conditions.

[0061] After obtaining multiple sets of joint data, by fitting each fitting coefficient as the dependent variable and the material quantity and main motor speed as the independent variables, a third mapping relationship between each fitting coefficient and the material quantity and main motor speed can be obtained. For example, the third mapping relationship can be as follows: ; in, Represents the fitting coefficient With material quantity Main motor speed The third mapping relationship between them Represents the fitting coefficient With material quantity Main motor speed The third mapping relationship between them Represents the fitting coefficient With material quantity Main motor speed The third mapping relationship between them.

[0062] (3) Substituting the third mapping into the second mapping relationship, we can obtain the first mapping relationship, as shown below: .

[0063] As can be seen from the above, this embodiment fits the second mapping relationship for multiple working condition combinations of material quantity and main motor speed, which can accurately characterize the correlation law of local working conditions. Based on each working condition combination and the multiple fitting coefficients in the corresponding second mapping relationship, multiple sets of joint data are determined. Based on the multiple sets of joint data, the variation law of each fitting coefficient with material quantity and main motor speed is fitted, which is the third mapping relationship. This can realize the extension of the local working condition law to the entire working condition range, forming a universal mapping relationship that is adaptive to the entire working condition, which is the first mapping relationship.

[0064] In one embodiment of this application, the grinding media includes a first type of grinding media, a second type of grinding media, and a third type of grinding media, and the volumes of the first type of grinding media, the second type of grinding media, and the third type of grinding media decrease sequentially. The filling of grinding media by the filling mechanism based on the filling volume control includes: Obtain the particle size distribution data of the material at the discharge port of the ball mill; the particle size distribution data includes the material mass percentage corresponding to each of the multiple particle size intervals; Based on the material particle size distribution data, the first proportion of the coarse particle size range, the second proportion of the fine particle size range, and the uniformity of the material particle size are determined; the coarse particle size range is all particle size ranges whose minimum value is greater than the preset first particle size threshold, and the fine particle size range is all particle size ranges whose maximum value is less than the preset second particle size threshold. The first filling ratio of the first type of grinding media is determined based on the first proportion; the second filling ratio of the second type of grinding media is determined based on the uniformity of the material particle size; and the third filling ratio of the third type of grinding media is determined based on the second proportion. Among these, the first filling ratio is positively correlated with the first proportion; the second filling ratio is negatively correlated with the uniformity of the material particle size; and the third filling ratio is negatively correlated with the second proportion. The first filling ratio, the second filling ratio, and the third filling ratio are normalized to obtain the target proportions of the first type of grinding media, the second type of grinding media, and the third type of grinding media; The respective classification and filling amounts of the first, second, and third types of grinding media are determined based on the target ratio and filling amount. The grinding media are filled according to the respective classification and filling amounts of the first, second, and third types of grinding media.

[0065] In this embodiment, the grinding media can be divided into three categories: large-volume first-type grinding media (e.g., large-diameter steel balls), medium-volume second-type grinding media (e.g., medium-diameter steel balls), and small-volume third-type grinding media (e.g., small-diameter steel balls). The main function of the first-type grinding media is impact crushing, relying on the impact force generated by its own weight and drop height to crush coarse particles with high hardness and large particle size. The main function of the second-type grinding media is to perform both impact and grinding, which can improve the uniformity of movement of the grinding media and reduce ineffective collisions. The main function of the third-type grinding media is fine grinding, relying on its small particle size to form sufficient contact grinding with fine particles, grinding the fine particles into finished particle size that meets the process requirements.

[0066] The particle size distribution data at the discharge port of a ball mill is the ultimate reflection of the working effect of the grinding media: if the proportion of coarse particles at the discharge port is too high, it indicates that the impact crushing ability of the first type of grinding media is insufficient, and the first type of grinding media needs to be filled in more. If the proportion of fine particles at the discharge port is too low, it indicates that the fine grinding ability of the third type of grinding media is insufficient, and the third type of grinding media needs to be filled in more. If the particle size distribution at the discharge port has a large dispersion (low uniformity), it indicates that the second type of grinding media is insufficient, and the second type of grinding media needs to be filled in more.

[0067] Therefore, an online particle size analyzer can be installed at the discharge port of the ball mill to obtain the particle size distribution data of the material at the discharge port. The particle size distribution data can characterize the material mass proportion corresponding to each of multiple particle size intervals. For example, multiple particle size intervals may include: 0~0.074mm, 0.074~0.1mm, 0.1~0.3mm, 0.3~0.5mm, and >0.5mm. The online particle size analyzer can detect the mass proportion of the material in each particle size interval in real time and generate a particle size distribution report.

[0068] Based on this, the standard deviation of the material mass percentage in each particle size range can be calculated, and then divided by the average of the material mass percentages in each particle size range to obtain the relative standard deviation of the material mass percentage in each particle size range. The uniformity of the material particle size can then be calculated based on the relative standard deviation. The relative standard deviation characterizes the dispersion of the material mass percentage in each particle size range; the larger the relative standard deviation, the higher the dispersion of the material particle size and the lower the uniformity of the material particle size. For example, the uniformity of the material particle size can be determined using the following formula: ; in, Indicates the uniformity of material particle size. It represents the relative standard deviation.

[0069] If the uniformity of the material particle size is less than the preset uniformity threshold (e.g., 0.6), it indicates that the uniformity of the material particle size at the ball mill discharge port is poor, and the second type of grinding media is insufficient, requiring a focus on filling with the second type of grinding media. Specifically, the second filling ratio of the second type of grinding media can be calculated using the following formula: ; in, This indicates the second filling ratio of the second type of abrasive media. Indicates the uniformity of material particle size. This indicates the preset uniformity threshold.

[0070] Furthermore, by setting a first particle size threshold (e.g., 0.5 mm) and a second particle size threshold (e.g., 0.074 mm), a coarse particle size range (the range greater than the first particle size threshold) and a fine particle size range (the range less than the second particle size threshold) can be obtained, and a first proportion of the coarse particle size range and a second proportion of the fine particle size range can be calculated.

[0071] If the proportion of the coarse particle size range is greater than the preset first proportion threshold (e.g., 20%), it indicates that there are too many coarse mineral particles at the ball mill discharge port, and the first type of grinding media is insufficient, requiring a focus on filling with the first type of grinding media. Specifically, the first filling ratio of the first type of grinding media can be calculated using the following formula: ; in, This indicates the first filling ratio of the first type of abrasive media. This indicates the first proportion of the coarse particle size range. This indicates the preset first percentage threshold.

[0072] If the first proportion of the fine particle size range is less than the preset second proportion threshold (e.g., 40%), it indicates that there are few fine mineral particles at the ball mill discharge port, and the third type of grinding media is insufficient, requiring a focus on filling with the third type of grinding media. Specifically, the third filling ratio of the third type of grinding media can be calculated using the following formula: ; in, This indicates the third filling ratio of the third type of grinding media. This represents the second proportion within the fine particle size range. This indicates the preset second percentage threshold.

[0073] Based on the first, second, and third fill ratios, these ratios can be normalized to obtain normalized first, second, and third fill ratios. Specifically, the following formulas can be used for calculation: ; in, This represents the first filling ratio after normalization. This represents the normalized second filling ratio. This represents the normalized third filling ratio.

[0074] Based on this, the target ratios for the first type of grinding media, the second type of grinding media, and the third type of grinding media can be obtained as follows: By allocating the filling amount of the grinding media calculated in the previous steps according to the target ratio to each type of grinding media, the filling amounts of the first, second, and third types of grinding media can be obtained. Finally, the grinding media are filled according to the filling amounts of each type, so as to achieve on-demand filling of the grinding media and thus ensure the best grinding effect.

[0075] Based on the same principle as the ball mill filling control method provided in the embodiments of this application, the embodiments of this application also provide a ball mill filling control device, such as... Figure 2 As shown, the ball mill filling control device 20 may specifically include: a data acquisition module 21, a material quantity adjustment module 22, a filling rate calculation module 23, and a filling control module 24.

[0076] The data acquisition module 21 is used to acquire the operating data of the ball mill; the operating data includes the main motor current, the vibration signal of the ball mill cylinder and the main motor speed. The material quantity adjustment module 22 is used to output a material quantity adjustment signal when the proportion of the specified frequency band signal in the vibration signal and the main motor current both fall outside their respective preset value ranges, so as to control the feeding and discharging mechanism to adjust the material quantity in the ball mill; the specified frequency band signal is a signal whose corresponding frequency is less than the preset frequency threshold. The filling rate calculation module 23 is used to determine the grinding media filling rate based on the main motor current, material quantity and main motor speed when the material quantity is adjusted and the rate of change of the material quantity within a set time is less than or equal to the preset rate of change threshold. The filling control module 24 is used to calculate the difference between the grinding media filling rate and the preset target filling rate, and to control the filling of the grinding media based on the difference.

[0077] In one embodiment of this application, the material is a mineral slurry, and the material quantity is the mass of minerals in the slurry; the filling rate calculation module 23 is specifically used for: Obtain the main motor voltage, preset main motor power factor, preset main motor rated efficiency, preset main motor transmission efficiency, slurry concentration, and particle size of minerals in the slurry; The input power of the main motor is determined based on the main motor voltage, main motor current and main motor power factor. The effective power of the main motor is determined based on the input power, main motor rated efficiency and main motor transmission efficiency. The grinding efficiency of the ball mill is determined based on the main motor speed. The effective power of the ball mill is determined based on the effective power of the main motor and the grinding efficiency. The material power is determined based on the material quantity, slurry concentration, and particle size of the minerals in the slurry. The power of the grinding media is determined based on the effective power of the ball mill and the power of the material. The grinding media filling rate is determined based on the grinding media power and a preset first mapping relationship; the first mapping relationship is used to characterize the correspondence between the grinding media power and the grinding media filling rate.

[0078] In one embodiment of this application, the filling rate calculation module 23 is further used for: The wear correction coefficient is determined based on the cumulative operating time of the liner in the ball mill; The power of the grinding media is corrected based on the wear correction coefficient to obtain the corrected power of the grinding media; The grinding media filling rate is determined based on the corrected grinding media power and the preset first mapping relationship.

[0079] In one embodiment of this application, the filling rate calculation module 23 is further used for: Determine multiple combinations of operating conditions for material quantity and main motor speed; Acquire multiple sets of historical data corresponding to each working condition combination; each set of historical data includes historical data corresponding to the main motor current and the grinding media filling rate. Under each working condition combination, a second mapping relationship between grinding media power and grinding media filling rate is fitted based on multiple sets of historical data corresponding to that working condition combination. Multiple sets of joint data are determined based on the fitting coefficients in each working condition combination and the corresponding second mapping relationship; Using each fitting coefficient as the dependent variable and the material quantity and main motor speed as independent variables, a third mapping relationship between each fitting coefficient and the material quantity and main motor speed is fitted based on multiple sets of joint data. Substituting the third mapping relationship into the second mapping relationship yields the first mapping relationship.

[0080] In one embodiment of this application, the feeding and discharging mechanism includes a feeding mechanism and a discharging mechanism; the material quantity adjustment module 22 is specifically used for: If the main motor current is greater than the preset first current threshold and the proportion of the specified frequency band signal in the vibration signal is greater than the preset first proportion threshold, then the first control signal is output as the material quantity adjustment signal to control the discharge mechanism to reduce the material quantity. If the main motor current is less than the preset second current threshold and the proportion of the specified frequency band signal in the vibration signal is less than the preset second proportional threshold, then the second control signal is output as the material quantity adjustment signal to control the feeding mechanism to increase the material quantity. The second current threshold is less than the first current threshold, the second proportional threshold is less than the first proportional threshold, the first current threshold and the second current threshold constitute the range of the main motor current, and the first proportional threshold and the second proportional threshold constitute the range of the vibration signal.

[0081] In one embodiment of this application, the filling control module 24 is specifically used for: If the difference is less than the preset first threshold, the filling amount is determined based on the difference, and the filling mechanism is controlled to fill the grinding media based on the filling amount. If the difference is greater than the preset second threshold, the discharge amount is determined based on the difference, and the discharge amount is used to control the filling mechanism to discharge the grinding media; wherein, the second threshold is greater than the first threshold.

[0082] In one embodiment of this application, the grinding media includes a first type of grinding media, a second type of grinding media, and a third type of grinding media, and the volumes of the first type of grinding media, the second type of grinding media, and the third type of grinding media decrease sequentially; the filling control module 24 is further configured to: Obtain the particle size distribution data of the material at the discharge port of the ball mill; the particle size distribution data includes the material mass percentage corresponding to each of the multiple particle size intervals; Based on the material particle size distribution data, the first proportion of the coarse particle size range, the second proportion of the fine particle size range, and the uniformity of the material particle size are determined; the coarse particle size range is all particle size ranges whose minimum value is greater than the preset first particle size threshold, and the fine particle size range is all particle size ranges whose maximum value is less than the preset second particle size threshold. The first filling ratio of the first type of grinding media is determined based on the first proportion; the second filling ratio of the second type of grinding media is determined based on the uniformity of the material particle size; and the third filling ratio of the third type of grinding media is determined based on the second proportion. Among these, the first filling ratio is positively correlated with the first proportion; the second filling ratio is negatively correlated with the uniformity of the material particle size; and the third filling ratio is negatively correlated with the second proportion. The first filling ratio, the second filling ratio, and the third filling ratio are normalized to obtain the target proportions of the first type of grinding media, the second type of grinding media, and the third type of grinding media; The respective classification and filling amounts of the first, second, and third types of grinding media are determined based on the target ratio and filling amount. The grinding media are filled according to the respective classification and filling amounts of the first, second, and third types of grinding media.

[0083] The apparatus in this application embodiment can execute the method provided in this application embodiment, and the implementation principle is similar. The actions performed by each module in the apparatus of each embodiment of this application correspond to the steps in the method of each embodiment of this application. For detailed functional descriptions of each module of the apparatus, please refer to the descriptions in the corresponding methods shown above, which will not be repeated here.

[0084] Figure 3 A schematic diagram of the structure of an electronic device to which this application embodiment applies is shown, such as... Figure 3 As shown, the electronic device can be used to implement the methods provided in any embodiment of this application.

[0085] like Figure 3 As shown, the electronic device can be a controller for a ball mill, and the electronic device 300 mainly includes at least one processor 301. Figure 3 The diagram shows components such as a memory 302, a communication module 303, and an input / output interface 304. Optionally, these components can be connected and communicate with each other via a bus 305. It should be noted that... Figure 3 The structure of the electronic device 300 shown is merely illustrative and does not constitute a limitation on the electronic devices to which the methods provided in the embodiments of this application are applicable.

[0086] The memory 302 can be used to store operating systems and applications, etc. The applications can include computer programs that implement the methods shown in the embodiments of this application when invoked by the processor 301, and can also include programs for implementing other functions or services. The memory 302 can be ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices that can store information and computer programs, or it can be EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0087] Processor 301 is connected to memory 302 via bus 305 and implements corresponding functions by calling the application programs stored in memory 302. Processor 301 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 301 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0088] Electronic device 300 can connect to a network via communication module 303 (which may include, but is not limited to, components such as a network interface) to communicate with other devices (such as user terminals or servers) through the network and achieve data interaction, such as sending data to or receiving data from other devices. Communication module 303 may include wired network interfaces and / or wireless network interfaces, meaning the communication module may include at least one of wired or wireless communication modules.

[0089] The electronic device 300 can connect to necessary input / output devices, such as a keyboard and display device, via the input / output interface 304. The electronic device 300 itself may have a display device, and other display devices can also be connected externally via the interface 304. Optionally, a storage device, such as a hard drive, can also be connected via the interface 304 to store data from the electronic device 300, retrieve data from the storage device, or store data from the storage device in the memory 302. It is understood that the input / output interface 304 can be a wired interface or a wireless interface. Depending on the actual application scenario, the device connected to the input / output interface 304 can be a component of the electronic device 300 or an external device connected to the electronic device 300 when needed.

[0090] The bus 305 used to connect the components may include a path for transmitting information between the components. The bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Depending on its function, the bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0091] Optionally, for the solution provided in the embodiments of this application, the memory 302 can be used to store a computer program that executes the solution of this application, and the processor 301 runs the computer program. When the processor 301 runs the computer program, it implements the operation of the method or apparatus provided in the embodiments of this application.

[0092] Based on the same principle as the method provided in the embodiments of this application, the embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the corresponding content of the aforementioned method embodiments.

[0093] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the corresponding content of the aforementioned method embodiments.

[0094] It should be noted that the terms "first," "second," "third," "fourth," "1," "2," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the figures or text.

[0095] In the embodiments of this application, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0096] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0097] The above description is only an optional implementation method for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. A ball mill filling control method, used for controlling the filling of grinding media in a ball mill, wherein the grinding media is used to grind materials in the ball mill, characterized in that, include: Acquire the operating data of the ball mill; the operating data includes the main motor current, the vibration signal of the ball mill cylinder, and the main motor speed; If the proportion of the specified frequency band signal in the vibration signal and the main motor current both fall outside their respective preset value ranges, a material quantity adjustment signal is output to control the feeding and discharging mechanism to adjust the material quantity in the ball mill; the specified frequency band signal is a signal whose corresponding frequency is less than a preset frequency threshold. During the process of adjusting the amount of material, if the rate of change of the amount of material within a set time period is less than or equal to a preset rate of change threshold, the grinding media filling rate is determined based on the main motor current, the amount of material, and the main motor speed. Calculate the difference between the grinding media filling rate and the preset target filling rate, and control the filling of the grinding media based on the difference.

2. The ball mill filling control method as described in claim 1, characterized in that, The material is a mineral slurry, and the amount of material is the mass of minerals in the mineral slurry; The step of determining the grinding media filling rate based on the main motor current, the material quantity, and the main motor speed includes: Obtain the main motor voltage, preset main motor power factor, preset main motor rated efficiency, preset main motor transmission efficiency, slurry concentration, and particle size of minerals in the slurry; The input power of the main motor is determined based on the main motor voltage, the main motor current, and the main motor power factor. The effective power of the main motor is determined based on the input power, the rated efficiency of the main motor, and the transmission efficiency of the main motor. The grinding efficiency of the ball mill is determined based on the main motor speed. The effective power of the ball mill is determined based on the effective power of the main motor and the grinding efficiency. The material power is determined based on the material quantity, slurry concentration, and particle size of the minerals in the slurry; The power of the grinding media is determined based on the effective power of the ball mill and the power of the material. The grinding media filling rate is determined based on the grinding media power and a preset first mapping relationship; the first mapping relationship is used to characterize the correspondence between the grinding media power and the grinding media filling rate.

3. The ball mill filling control method as described in claim 2, characterized in that, The step of determining the grinding media filling rate based on the grinding media power and a preset first mapping relationship includes: The wear correction coefficient is determined based on the cumulative operating time of the liner in the ball mill; The power of the grinding media is corrected based on the wear correction coefficient to obtain the corrected power of the grinding media; The grinding media filling rate is determined based on the corrected grinding media power and the preset first mapping relationship.

4. The ball mill filling control method as described in claim 2, characterized in that, The method for determining the preset first mapping relationship includes: Determine multiple combinations of operating conditions for the material quantity and the main motor speed; Acquire multiple sets of historical data corresponding to each working condition combination; each set of historical data includes historical data corresponding to the main motor current and the grinding media filling rate; Under each working condition combination, a second mapping relationship between the grinding media power and the grinding media filling rate is fitted based on multiple sets of historical data corresponding to that working condition combination. Multiple sets of joint data are determined based on the fitting coefficients in each working condition combination and the corresponding second mapping relationship; Using each fitting coefficient as the dependent variable and the material quantity and the main motor speed as independent variables, a third mapping relationship between each fitting coefficient and the material quantity and the main motor speed is fitted based on the multiple sets of joint data; Substituting the third mapping relationship into the second mapping relationship yields the first mapping relationship.

5. The ball mill filling control method as described in claim 1, characterized in that, The feeding and discharging mechanism includes a feeding mechanism and a discharging mechanism; If the proportion of the specified frequency band signal in the vibration signal and the main motor current both fall outside their respective preset value ranges, a material quantity adjustment signal is output to control the feeding and discharging mechanism to adjust the material quantity in the ball mill, including: If the main motor current is greater than a preset first current threshold and the proportion of the specified frequency band signal in the vibration signal is greater than a preset first proportion threshold, then a first control signal is output as the material quantity adjustment signal to control the discharge mechanism to reduce the material quantity. If the main motor current is less than the preset second current threshold and the proportion of the specified frequency band signal in the vibration signal is less than the preset second proportion threshold, then the second control signal is output as a material quantity adjustment signal to control the feeding mechanism to increase the material quantity. Wherein, the second current threshold is less than the first current threshold, the second proportional threshold is less than the first proportional threshold, the first current threshold and the second current threshold constitute the value range of the main motor current, and the first proportional threshold and the second proportional threshold constitute the value range of the vibration signal.

6. The ball mill filling control method as described in claim 1, characterized in that, The filling control of the grinding media based on the difference includes: If the difference is less than a preset first threshold, the filling amount is determined based on the difference, and the filling mechanism is controlled to fill the grinding media based on the filling amount. If the difference is greater than a preset second threshold, the discharge amount is determined based on the difference, and the filling mechanism is controlled to discharge the grinding media based on the discharge amount; wherein, the second threshold is greater than the first threshold.

7. The ball mill filling control method as described in claim 6, characterized in that, The grinding media include a first type of grinding media, a second type of grinding media, and a third type of grinding media, and the volume of the first type of grinding media, the second type of grinding media, and the third type of grinding media decreases sequentially. Wherein, controlling the filling mechanism to fill the grinding media based on the filling amount includes: Obtain the particle size distribution data of the material at the discharge port of the ball mill; the particle size distribution data includes the material mass percentage corresponding to each of multiple particle size intervals; Based on the material particle size distribution data, the first proportion of the coarse particle size range, the second proportion of the fine particle size range, and the uniformity of the material particle size are determined; the coarse particle size range is all particle size ranges whose minimum value is greater than a preset first particle size threshold, and the fine particle size range is all particle size ranges whose maximum value is less than a preset second particle size threshold. A first filling ratio of the first type of grinding media is determined based on the first ratio; a second filling ratio of the second type of grinding media is determined based on the uniformity of the material particle size; and a third filling ratio of the third type of grinding media is determined based on the second ratio. The first filling ratio is positively correlated with the first ratio, the second filling ratio is negatively correlated with the uniformity of the material particle size, and the third filling ratio is negatively correlated with the second ratio. The first filling ratio, the second filling ratio, and the third filling ratio are normalized to obtain the target ratio of the first type of grinding media, the second type of grinding media, and the third type of grinding media. The respective classification and filling amounts of the first type of grinding media, the second type of grinding media, and the third type of grinding media are determined based on the target ratio and the filling amount. The grinding media are filled based on the respective classification and filling amounts of the first type of grinding media, the second type of grinding media, and the third type of grinding media.

8. A ball mill filling control device for controlling the filling of grinding media in a ball mill, the grinding media being used to grind materials in the ball mill, characterized in that, include: The data acquisition module is used to acquire the operating data of the ball mill; the operating data includes the main motor current, the vibration signal of the ball mill cylinder, and the main motor speed. The material quantity adjustment module is used to output a material quantity adjustment signal when the proportion of the specified frequency band signal in the vibration signal and the main motor current both fall outside their respective preset value ranges, so as to control the feeding and discharging mechanism to adjust the material quantity in the ball mill; the specified frequency band signal is a signal whose corresponding frequency is less than a preset frequency threshold. The filling rate calculation module is used to determine the grinding media filling rate based on the main motor current, the material quantity, and the main motor speed when the material quantity is adjusted. If the rate of change of the material quantity within a set time period is less than or equal to a preset rate of change threshold, the filling rate is used to determine the grinding media filling rate. The filling control module is used to calculate the difference between the filling rate of the grinding media and the preset target filling rate, and to control the filling of the grinding media based on the difference.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the ball mill filling control method according to any one of claims 1 to 7 when running the computer program.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the ball mill filling control method according to any one of claims 1 to 7.

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