An adaptive smelting charging device and a charging control method thereof

Abstract

The application discloses a self-adaptive smelting feeding device and a feeding control method thereof. The device comprises a rack, a posture adjusting mechanism, a hopper and a pushing member. The posture adjusting mechanism drives the hopper to change its spatial posture; the pushing driving mechanism drives the pushing member to slide along the bottom surface of the hopper. The feeding control system is further included, which is used for adjusting the pushing action of the pushing driving mechanism and the posture adjusting action of the posture adjusting mechanism during the pushing process, so that the pushing working condition is maintained or tends to be a stable working condition; the posture adjusting action is constrained to keep the spatial position of the discharge port of the hopper in the preset feeding target area; the stable working condition comprises at least one preset target, such as constant pushing power, pushing speed within a preset range or pushing resistance change trend matched with a historical pushing process. The application adjusts the pushing action and the hopper posture by real-time sensing of the pushing resistance, so that the feeding process can still maintain a stable working condition when facing dynamic and nonlinearly changed materials.

Description

Technical Field

[0001] This invention relates to the field of metallurgical equipment technology, and in particular to an adaptive smelting feeding device and its feeding control method. Background Technology

[0002] In steel and non-ferrous metal smelting, feeding is a crucial step in ensuring smelting efficiency, accurate composition, and energy consumption control. Existing feeding equipment, such as feeding carts, typically uses a pusher plate at the bottom of the hopper to push materials (such as solid billets of non-ferrous or ferrous metals, alloy materials, etc.) out of the hopper. During the pushing process, the total amount of material in the hopper continuously decreases, resulting in a non-constant pushing load. Furthermore, the material is not an ideal homogeneous body; large pieces of material may become stuck, and powdery materials may clump together to form arches that then suddenly collapse. These phenomena cause drastic and unpredictable sudden changes in pushing resistance. As the material is pushed out, its center of gravity shifts forward, altering the overall force distribution on the hopper system and potentially causing slight vibrations in the hopper, affecting the uniformity of the discharge flow and the accuracy of the discharge point.

[0003] Existing technologies primarily employ open-loop programmable control, meaning fixed feeding speeds, feeding strokes, and hopper postures are pre-set. This method is completely unable to respond to real-time changes in operating conditions, resulting in inconsistent feeding speeds and uneven material flow. When encountering jams, the equipment may overload and break down, or be forced through, causing mechanical impact. Furthermore, it cannot guarantee the consistency of the feeding point or the repeatability of the process. The feeding process relies on operator experience for intervention, resulting in low automation.

[0004] Therefore, there is an urgent need for a feeding device and control scheme that can sense the status of the feeding process in real time and intelligently adjust its own actions to adapt to changes in materials, thereby ensuring a stable, efficient and reliable feeding process. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides an adaptive smelting feeding device and its feeding control method. By sensing the pushing resistance in real time, the pushing action and the hopper posture are adjusted so that the feeding process can maintain a stable working condition when facing dynamic and nonlinearly changing materials.

[0006] Technical Solution: To achieve the above objectives, the present invention provides an adaptive smelting feeding device, comprising a frame, on which an attitude adjustment mechanism is provided. A hopper is installed at the output end of the attitude adjustment mechanism, and the attitude adjustment mechanism is used to drive the hopper to change its spatial attitude. A pusher is provided inside the hopper, and the pusher is connected to the output end of a pusher driving mechanism, which is used to drive the pusher to slide along the bottom surface of the hopper. The device also includes a feeding control system, which is used to adjust the pushing action of the pusher driving mechanism and the attitude adjustment action of the attitude adjustment mechanism during the feeding process, so that the feeding condition is maintained or approaches a stable condition. The attitude adjustment action is constrained to keep the spatial position of the hopper's outlet within a preset feeding target area. The stable condition includes at least one of the following preset targets: constant pushing power, pushing speed within a preset range, or a pushing resistance change trend matching historical pushing processes.

[0007] Furthermore, the feeding control system includes a sensing module for acquiring sensing signals reflecting the pushing resistance F in real time; the sensing module is communicatively connected to the control module, and the control module is communicatively connected to the execution module in the pushing drive mechanism and the execution module in the attitude adjustment mechanism, respectively; the control module is used to receive the sensing signals and determine whether the current pushing condition deviates from the preset stable condition based on the sensing signals; if a deviation is determined, an adaptive control command is generated; the execution module is used to receive the adaptive control command and control the actions of the pushing drive mechanism and the attitude adjustment mechanism accordingly.

[0008] Furthermore, the sensing module includes force sensors arranged on the force transmission path of the pusher, for real-time detection of the pushing resistance borne by the pusher.

[0009] Furthermore, the pushing drive mechanism is a pushing arm driven by a gear chain assembly, the pushing component is installed at the front end of the pushing arm through a quick-release connection structure, and the force sensor is integrated into the quick-release connection structure.

[0010] Furthermore, the attitude adjustment mechanism includes a planar four-bar linkage and at least two linear drive units for driving the deformation of the planar four-bar linkage; the at least two linear drive units include a first driver and a second driver, the first driver is used to drive the hopper to translate and lift, and the second driver is used to drive the swing arm to adjust the pitch angle.

[0011] Furthermore, the control module has a built-in kinematic model of the feeding device, which is used to calculate the spatial position of the hopper outlet in real time based on the action of the attitude adjustment mechanism, and use this as a constraint to generate control commands for the attitude adjustment mechanism.

[0012] A feeding control method includes the following steps:

[0013] S1. The operator selects the material type and then starts the feeding procedure;

[0014] S2. The smelting feeding device automatically moves the hopper to a preset position at the furnace opening through the attitude adjustment mechanism, and adjusts the hopper to the initial feeding attitude;

[0015] S3. The pushing drive mechanism drives the pushing component to start pushing the material. During the pushing process, the sensing module collects the pushing resistance F borne by the pushing component in real time. The control module determines whether the current pushing condition deviates from the preset stable condition based on the sensing signal of the sensing module. If it deviates, an adaptive control command is generated and executed.

[0016] Furthermore, the control module determines whether the current feeding condition deviates from the preset stable condition based on the sensor signal, including: calculating the real-time feeding power P based on the real-time collected feeding resistance F and feeding speed v, determining whether the real-time feeding power P deviates from the preset constant power target value P, and if it deviates, determining that the current feeding condition deviates from the stable condition; the generation and execution of the adaptive control command includes: adjusting the output speed of the feeding drive mechanism to make the real-time feeding power P return to the constant power target value P.

[0017] Furthermore, the control module determines whether the current feeding condition deviates from the preset stable condition based on the sensor signal, including: comparing the real-time acquired feeding resistance signal with a pre-stored reference resistance curve, the reference resistance curve representing the resistance change of similar materials in the historical feeding process; determining whether the deviation between the real-time resistance signal and the reference resistance curve exceeds the tolerance range; if it exceeds the tolerance range, determining that the current feeding condition deviates from the stable condition; the generation and execution of adaptive control instructions includes: adjusting the feeding speed of the feeding drive mechanism or adjusting the attitude adjustment mechanism to change the attitude angle of the hopper according to the direction and magnitude of the deviation.

[0018] Furthermore, the generation and execution of adaptive control instructions includes: when it is determined that the pushing resistance is higher than a first threshold, executing a first-level response: controlling the attitude adjustment mechanism to increase the forward tilt angle of the hopper by a preset angle; if the pushing resistance is still higher than the first threshold after executing the first-level response, then executing a second-level response: controlling the pushing drive mechanism to pause pushing, and controlling the attitude adjustment mechanism to drive the hopper to perform a shaking action, and then controlling the pushing drive mechanism to resume pushing.

[0019] Beneficial effects: The adaptive smelting feeding device and its feeding control method of the present invention have at least the following significant advantages:

[0020] (1) Through closed-loop feedback control, the system can actively adapt to changes in material weight, center of gravity and arching state, effectively suppressing the fluctuation of pushing speed and load impact, and ensuring uniform discharge and consistent landing point.

[0021] (2) Strategies such as constant power control ensure efficiency while avoiding energy waste; the process learning function makes the equipment smarter the more it is used, and can automatically match the optimal feeding parameters for different materials, thus improving the process level.

[0022] (3) Intelligent anti-interference strategy replaces the traditional hard-hit, which greatly reduces the peak load and impact damage of mechanical parts and extends the equipment life.

[0023] (4) Automated and intelligent control reduces the reliance on senior operators, while state-based intelligent maintenance prediction reduces the risk of unexpected downtime. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the feeding device according to an embodiment of the present invention.

[0025] Figure 2 for Figure 1 A schematic diagram of the dual-cylinder driven four-link attitude adjustment mechanism in the embodiment.

[0026] Figure 3 for Figure 1 A partially enlarged schematic diagram of the quick-release structure integrating the force sensor in the embodiment.

[0027] Figure 4 This is a block diagram illustrating the system structure and principle of the adaptive control system of the present invention.

[0028] Figure 5 This is a flowchart of the adaptive feeding control method of the present invention. Detailed Implementation

[0029] The invention will now be further described with reference to the accompanying drawings.

[0030] As attached Figure 1-5 The adaptive smelting feeding device and its feeding control method are described above. In this embodiment, the feeding device includes a frame 1, a posture adjustment mechanism 2, a hopper 3, a pusher 4, a pusher drive mechanism 5, and an adaptive control system integrated therein.

[0031] The frame 1 is a mobile transport platform, such as an AGV vehicle, with two sets of attitude adjustment mechanisms 2 installed on the vehicle body. The two sets of attitude adjustment mechanisms 2 operate synchronously. The attitude adjustment mechanism 2 includes a planar four-bar linkage 9 that is deformable in a vertical plane, and a first driver 9a and a second driver 9b that drive the deformation of the planar four-bar linkage 9. The first driver 9a is used to drive the hopper 3 to translate and lift, and the second driver 9b is used to drive the swing arm 21 to adjust its pitch angle.

[0032] The planar four-bar linkage 9 consists of a first link 91, a second link 92, a third link 93, and a fourth link 94. The first link 91 and the second link 92 are parallel to each other and are hinged to the ends of the vertically parallel third link 93 and the fourth link 94, respectively. The fourth link 94 is located below the third link 93, forming a parallelogram structure. Subsequent hinge points of this mechanism (such as the hinge point between the second link 92 and the fourth link 94) are simultaneously hinged to the top of the rear support 11 of the vehicle body. The first link 91 is directly fixed to the back side of the hopper 3.

[0033] Both the first actuator 9a and the second actuator 9b are hydraulic cylinders, with their cylinder bodies hinged to the vehicle frame. The piston rod of the first actuator 9a can be hinged to either the first connecting rod 91 or the fourth connecting rod 94, while the piston rod of the second actuator 9b is hinged to the second connecting rod 92. These two hydraulic cylinders serve as the execution modules of the attitude adjustment mechanism 2, driving the hopper 3 to change its spatial attitude through coordinated action.

[0034] If the first actuator 9a is hinged to the fourth link 94, the two hydraulic cylinders can operate independently. If it is hinged to the first link 91, since both drive two parallel sides of the parallelogram simultaneously, when the second actuator 9b drives the second link 92 to rotate around the lower hinge point to adjust the tilt of the hopper, the first actuator 9a must move accordingly; otherwise, motion interference will occur. This following motion causes the hopper 3 to move along a composite trajectory of sinking and protruding when it tilts forward (i.e., the outlet tilts downward), which simultaneously includes sinking and protruding components. Therefore, the hopper 3 does not adjust the tilting angle around a fixed axis, but rather rotates around a virtual spatial axis, and this virtual axis itself also changes dynamically.

[0035] This design offers two advantages: first, it avoids the limitation of furnace opening space on the attitude adjustment; second, at the same tilt angle and discharge port insertion depth, the hopper discharge port height is lower and the material drop point is closer to the furnace bottom when following a downward probing trajectory. This helps reduce the breakage of large, fragile materials, suppress material splashing and dust generation, thereby achieving more stable and precise material distribution.

[0036] The hopper 3 is equipped with a pusher 4, which is connected to the output end of a pusher drive mechanism 5. The pusher drive mechanism 5 drives the pusher 4 to slide along the bottom surface of the hopper. The pusher drive mechanism 5 includes a guide housing fixedly installed on the back side of the hopper 3. A single-stage or multi-stage telescopic pusher arm 10 is axially slidably arranged inside the housing. The pusher arm is driven by a gear chain drive mechanism to slide or extend, thereby driving the pusher 4 installed at its front end to slide along the bottom surface of the hopper. The gear chain drive mechanism is usually driven by a motor and can precisely control the pushing speed.

[0037] The feeding device also includes a feeding control system, which is used to adjust the pushing action of the pushing drive mechanism 5 and the attitude adjustment action of the attitude adjustment mechanism 2 during the pushing process, so that the pushing condition is maintained or approaches a stable condition; the stable condition includes at least one of the following preset targets: constant pushing power, pushing speed within a preset range, or pushing resistance change trend that matches the historical pushing process.

[0038] The posture adjustment action is constrained to keep the discharge port of the hopper 3 within a preset feeding target area; thus, while achieving uniform discharge by adjusting the hopper posture, it also ensures consistent discharge landing points, which is conducive to achieving stable and precise material distribution and optimizing the smelting process.

[0039] The feeding control system includes a sensing module 6, which includes force sensors, such as high-precision strain sensors, arranged on the force transmission path of the pusher 4, for real-time acquisition of sensing signals reflecting the pushing resistance F. The sensing module 6 is communicatively connected to a control module 7, which is communicatively connected to the drive motor driving the pusher arm 10 and the electrically controlled valves of the first driver 9a and the second driver 9b. The control module 7 has a built-in kinematic model of the feeding device, which is used to calculate the spatial position of the hopper 3 outlet in real time based on the action of the attitude adjustment mechanism 2, and use this as a constraint to generate control commands for the attitude adjustment mechanism 2.

[0040] The control module 7 receives the sensing signal and determines whether the current feeding condition deviates from the preset stable condition based on the sensing signal; if it is determined to deviate, an adaptive control command is generated; when the drive motor receives the adaptive control command, it performs the corresponding acceleration or deceleration action, and when the first driver 9a and the second driver 9b receive the adaptive control command, they perform the corresponding extension or retraction action.

[0041] Preferably, the pusher 4 is installed at the front end of the pusher arm 10 via a quick-release connection structure 8, so that the pusher 4 can be quickly replaced according to different materials. In this embodiment, the pusher 4 is a steel structure pusher plate welded from wear-resistant metal materials. Different types of cutting edge structures can be set at the bottom of the front edge of the pusher according to the different materials selected.

[0042] In this embodiment, the quick-release connection structure 8 includes a force-bearing rod 81 fixed to the back of the pusher 4, and a pulling structure integrated at the front end of the pusher arm 10. The pulling structure and the force-bearing rod 81 cooperate to form a locking mechanism, thereby achieving the locking installation of the pusher 4 and the front end of the pusher arm 10.

[0043] The pulling structure mainly consists of a hook 82, a pull rod 83, a tensioning hydraulic cylinder 8a, a drive rod 84, and a locking hydraulic cylinder 8b. One end of the hook 82 is hinged to the front end of the pull rod 83. The axis of the pull rod 83 is parallel to the sliding direction of the pusher arm 10, and its rear end is connected to the output end of the tensioning hydraulic cylinder 8a, which drives it to slide along the axis. The middle part of the hook 82 is hinged to the front end of the drive rod 84, and the other end of the drive rod 84 is connected to the output end of the locking hydraulic cylinder 8b. The locking hydraulic cylinder 8b indirectly drives the hook 82 to rotate around the front end of the pull rod 83 through the drive rod 84.

[0044] Through the coordinated action of the tensioning hydraulic cylinder 8a and the locking hydraulic cylinder 8b, the system can actively adjust the pre-tension force on the pusher 4 and maintain the posture of the hook 82 relative to the pull rod 83, ensuring that the tension is always perpendicular to the pushing surface of the pusher 4.

[0045] The force sensor is integrated inside the quick-release connection structure 8, for example, at the contact point between the hook 82 and the force rod 81. It can directly detect the pushing resistance of the pusher 4 and indirectly monitor the pre-tightening force of the locking mechanism.

[0046] Since the material accumulates at the bottom of the hopper and the pusher plate always slides against the bottom surface of the hopper, the bottom edge of the pusher plate experiences significant resistance during the pushing process. If the preload remains constant, when the pushing is suddenly obstructed, the resistance at the lower edge of the pusher plate increases sharply, while the pushing force mainly acts on the middle of the pusher plate. This causes the lower edge of the pusher plate to tend to flip backward and tilt upward, while the upper and middle parts tend to move forward away from the pusher arm 10. At this time, the system can increase the preload by retracting the tensioning hydraulic cylinder 8a, while simultaneously adjusting the posture of the hook 82 with the locking hydraulic cylinder 8b to ensure that the pulling force acts perpendicularly on the pusher, thereby maintaining the stability of the pusher 4's posture within the hopper 3 and avoiding incomplete pushing that could affect the feeding accuracy.

[0047] A feeding control method for the adaptive smelting feeding device includes the following steps:

[0048] S1. After the operator selects the material type, the feeding program is started. Different materials may correspond to different constant pushing power, pushing resistance threshold and reference resistance-stroke experience curve.

[0049] S2. The smelting feeding device automatically moves the hopper 3 to the preset position at the furnace opening through the attitude adjustment mechanism 2, and adjusts the hopper 3 to the initial feeding attitude, such as a downward and probing attitude with a certain forward tilt angle.

[0050] S3. The pushing drive mechanism 5 drives the pushing component 4 to start pushing material. During the pushing process, the sensing module 6 collects the pushing resistance F borne by the pushing component 4 in real time. The control module 7 determines whether the current pushing condition deviates from the preset stable condition based on the sensing signal of the sensing module 6. If it deviates, an adaptive control command is generated and executed.

[0051] More specific steps:

[0052] S31, Start pushing material, the pushing arm 10 moves forward under the drive of gear chain.

[0053] S32. Real-time acquisition of force sensor signals to obtain pushing resistance F, and reading the real-time displacement of pushing arm 10, which is then converted into speed v.

[0054] S33, Core Judgment and Decision-Making Process. In this embodiment, multiple strategies can be executed in parallel or selectively:

[0055] Constant power strategy: Calculate the instantaneous power P = F × v. Compare it with the preset power P0. If P < P0, increase the feeding speed command; if P > P0, decrease the speed command. Constant power is achieved through a speed closed loop.

[0056] Learning tracking strategy: Retrieve the reference resistance-stroke curve for the current material from the database. Compare the real-time measured resistance-stroke points with the curve. If the measured point is consistently higher than the curve, slightly increase the forward tilt angle of hopper 3 or slightly decrease the pushing speed; if it is lower than the curve, make the opposite adjustment. After the operation is completed, save the smoothed resistance curve for the next optimization.

[0057] Tiered anti-interference strategy: Monitor whether the resistance F exceeds the first threshold F1. If so, initiate a first-level response: control the second hydraulic cylinder 9b to micro-motion, increasing the forward tilt angle of the hopper 3 by α degrees (e.g., 3°). After waiting for Δt time, determine whether the resistance has dropped below F1. If not, initiate a second-level response: control the pusher arm 10 to pause; then control the attitude adjustment mechanism 2 to quickly complete a shaking motion of the hopper 3, first slightly tilting upwards and then returning to its original position; afterwards, control the pusher arm 9 to attempt to advance again at a lower speed. If the resistance still exceeds the second threshold F2, an emergency stop and alarm will be triggered.

[0058] S34: Based on the decision result of S33, issue coordinated control commands to the pusher drive motor and hydraulic cylinders 9a and 9b.

[0059] S35: Determine if the pushing stroke has ended. If not, return to S32; if yes, end this operation and optionally perform learning steps, such as updating the reference resistance-stroke curve.

[0060] For example, when conveying wet and sticky mineral powder, the initial resistance is high, and the system may automatically reduce the speed to maintain constant power. In the middle stage, if the resistance curve is found to deviate from the historical standard, the hopper angle may be finely adjusted, and the material's gravity component may be used to assist in pushing the material to improve its flowability. In the final stage, if abnormal fluctuations in resistance are detected, such as signs of material arching, the shaking and clearing function will be automatically triggered. The entire process is smooth and stable, requiring no manual intervention.

[0061] This solution deeply integrates intelligent control with advanced mechanical structures, enabling the feeding equipment to evolve from automated execution to intelligent adaptation. It is particularly suitable for modern large-scale electric furnaces, converters, and special smelting scenarios with extremely high requirements for feeding stability, accuracy, and equipment reliability. It is not only an equipment improvement, but also an important technological foundation for promoting the digitalization and intelligentization of smelting feeding processes.

[0062] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the above principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. An adaptive smelting feeding device, characterized in that: Includes a frame (1), on which a posture adjustment mechanism (2) is provided, and a hopper (3) is installed at the output end of the posture adjustment mechanism (2). The posture adjustment mechanism (2) is used to drive the hopper (3) to change its spatial posture. The hopper (3) is provided with a pusher (4), which is connected to the output end of the pusher drive mechanism (5). The pusher drive mechanism (5) is used to drive the pusher (4) to slide along the bottom surface of the hopper. It also includes a feeding control system, which is used to adjust the feeding action of the feeding drive mechanism (5) and the attitude adjustment action of the attitude adjustment mechanism (2) during the feeding process, so that the feeding condition is maintained or approaches a stable condition. The posture adjustment action is constrained to keep the discharge port of the hopper (3) within a preset feeding target area.

2. The adaptive smelting feeding device according to claim 1, characterized in that: The feeding control system includes a sensing module (6) for acquiring sensing signals that reflect the pushing resistance F in real time; the sensing module (6) is communicatively connected to the control module (7), and the control module (7) is communicatively connected to the execution module in the pushing drive mechanism (5) and the execution module in the attitude adjustment mechanism (2), respectively; The control module (7) is used to receive the sensing signal and determine whether the current feeding condition deviates from the preset stable condition based on the sensing signal. If a deviation is detected, an adaptive control command is generated; The execution module is used to receive the adaptive control command and control the actions of the pusher drive mechanism (5) and the attitude adjustment mechanism (2) accordingly.

3. The adaptive smelting feeding device according to claim 2, characterized in that: The sensing module (6) includes a force sensor arranged on the force transmission path of the pusher (4) for real-time detection of the pushing resistance borne by the pusher (4).

4. The adaptive smelting feeding device according to claim 3, characterized in that: The pusher drive mechanism (5) is a pusher arm (10) driven by a gear chain assembly. The pusher component (4) is installed at the front end of the pusher arm (10) through a quick-release connection structure (8). The force sensor (6) is integrated into the quick-release connection structure (8).

5. An adaptive smelting feeding device according to claim 2, characterized in that: The attitude adjustment mechanism (2) includes a planar four-bar linkage (9) and at least two linear drive units that drive the deformation of the planar four-bar linkage; the at least two linear drive units include a first driver (9a) and a second driver (9b), the first driver (9a) is used to drive the hopper (3) to translate and lift, and the second driver (9b) is used to drive the swing arm (21) to adjust the pitch angle.

6. The adaptive smelting feeding device according to claim 2, characterized in that: The control module (7) has a built-in kinematic model of the feeding device, which is used to calculate the spatial position of the hopper (3) outlet in real time according to the action of the posture adjustment mechanism (2), and use this as a constraint to generate control commands for the posture adjustment mechanism (2).

7. A feeding control method for the adaptive smelting feeding device according to any one of claims 2-6, characterized in that, Includes the following steps: S1. The operator selects the material type and then starts the feeding procedure; S2. The smelting feeding device automatically moves the hopper (3) to the preset position at the furnace mouth through the posture adjustment mechanism (2) and adjusts the hopper (3) to the initial feeding posture; S3. The pushing drive mechanism (5) drives the pushing component (4) to start pushing the material. During the pushing process, the sensing module (6) collects the pushing resistance F borne by the pushing component (4) in real time. The control module (7) determines whether the current pushing condition deviates from the preset stable condition based on the sensing signal of the sensing module (6). If it deviates, an adaptive control command is generated and executed.

8. The feeding control method according to claim 7, characterized in that, The control module (7) determines whether the current feeding condition deviates from the preset stable condition based on the sensor signal, including: The real-time pushing power P is calculated based on the real-time collected pushing resistance F and pushing speed v. It is then determined whether the real-time pushing power P deviates from the preset constant power target value P0. If it deviates, the current pushing condition is determined to deviate from the stable condition. The generation and execution of the adaptive control command includes: adjusting the output speed of the pusher drive mechanism (5) to make the real-time pusher power P return to the constant power target value P0.

9. The feeding control method according to claim 7, characterized in that, The control module (7) determines whether the current feeding condition deviates from the preset stable condition based on the sensor signal, including: The real-time push resistance signal is compared with a pre-stored reference resistance curve, which represents the resistance change of similar materials in the historical push process; it is determined whether the deviation between the real-time resistance signal and the reference resistance curve exceeds the tolerance range; if it does, it is determined that the current push condition deviates from the stable condition. The generation and execution of adaptive control instructions include: adjusting the pushing speed of the pushing drive mechanism (5) or adjusting the attitude adjustment mechanism (2) to change the attitude angle of the hopper according to the direction and magnitude of the deviation.

10. A feeding control method according to any one of claims 7-9, characterized in that, The generation and execution of adaptive control instructions includes: When the pushing resistance is determined to be higher than the first threshold, the first level response is executed: the attitude adjustment mechanism (2) is controlled to increase the forward tilt angle of the hopper (3) by a preset angle; If the pushing resistance is still higher than the first threshold after the first level response is executed, the second level response is executed: the pushing drive mechanism (5) is controlled to pause pushing, and the attitude adjustment mechanism (2) is controlled to drive the hopper (3) to perform a shaking action, and then the pushing drive mechanism (5) is controlled to resume pushing.

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