Bulk feed discharge process control optimization method and system based on synergistic driving

Abstract

The application discloses a bulk feed discharging process control optimization method and system based on cooperative driving, and relates to the field of automatic control technology.The bulk feed discharging process control optimization method and system based on cooperative driving comprises the following steps: S1, constructing a discharging process basic data set; S2, identifying load change characteristics and rotating speed response characteristics in the auger conveying process based on the discharging process basic data set; S3, performing cooperative analysis on the feeding relationship and releasing relationship between the augers in the face of the conveying blockage stage; and S4, performing linkage evaluation on the multi-component operation states in the discharging execution process according to the conveying blockage stage.The problem that the motor load change is manifested as current slight fluctuation and rotating speed slight attenuation in the blockage precursor stage and is difficult to be effectively identified, resulting in sudden blockage, is solved.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, and in particular to a method and system for optimizing the control of bulk feed discharging process based on collaborative drive. Background Technology

[0002] With the continuous improvement of industrial automation, industrial control systems are increasingly widely used in production, material handling, and equipment operation management, becoming a key technological foundation for process monitoring, state regulation, and coordinated equipment operation. Industrial control systems typically achieve real-time control and scheduling of the operation process by acquiring and processing signals from motors, electrical actuators, and sensors. They are gradually developing towards multi-variable coupled control and intelligent regulation, and their stable operation capability under complex working conditions is constantly improving.

[0003] For example, invention patent CN114967583B discloses an automatic control and adjustment system for feeding a feed mixer. The system is characterized by four parts: a feeding section, a weighing section, a raw material mixing section, and a control section. The feeding section is an actuator that adds material from the raw material silo to the weighing equipment. Based on a pre-set weight control signal, the raw material silo feeds at full speed. Different feeding devices are selected according to the different characteristics of the raw materials required for feed production, including flow valves, feeders, low-level sensors, and low-level alarm lights. The beneficial effect is that when the raw materials are weighed in the weighing section, the weighing information from the weighing sensor is sent to the PLC controller. When the PLC controls the relevant parts to operate, the PLC controller's calculation module adds up the weighing values ​​each time. The operator can retrieve the data and compare it with the feeding data to determine the loss rate of a single raw material.

[0004] For example, the invention patent with announcement number CN118426428B discloses an abnormal alarm method and system for a straw feed production control system, specifically involving the field of feed production monitoring technology. It addresses the problem of existing systems failing to provide timely early warnings of potential hazards during the straw crushing process. This involves using image recognition technology to assess dust concentration and promptly identify the hazardous level of dust concentration; continuously monitoring the accumulation of static electricity; and comprehensively analyzing dust concentration and static electricity accumulation to determine the risk level. When the dust explosion risk level in the crushing area is determined to be low, the frequency of jamming during the crushing process is further monitored. This allows for real-time detection of any abnormalities or efficiency reductions that may occur during equipment operation. If the jamming frequency is too high, production interruptions due to mechanical failures are avoided. Furthermore, the analysis of jamming events assesses the possibility of insufficient straw crushing to determine the crushing quality, ensuring the uniformity and applicability of straw particles.

[0005] In material handling and discharge control scenarios, existing industrial control systems typically rely on threshold judgments based on single or simple combinations of parameters such as motor current and speed, and execute equipment start / stop or parameter adjustments through preset control logic. These methods largely depend on fixed thresholds or empirical rules, failing to adequately consider the collaborative relationships between multiple devices and the characteristics of process evolution. When faced with complex conveying states and continuously changing processes, they suffer from insensitivity to early anomalies, limited accuracy in state discrimination, and insufficient collaborative control capabilities among multiple components.

[0006] To address the above issues, there is an urgent need for a collaborative-driven method and system for optimizing the control of bulk feed discharge processes. Summary of the Invention

[0007] To address the technical problem in existing technologies where the precursory phase of a blockage manifests as minute fluctuations in motor load and slight decreases in speed, which are difficult to detect effectively and can lead to sudden blockages, this invention provides a method and system for optimizing the control of bulk feed discharging processes based on collaborative drive. The technical solution is as follows: On the one hand, a collaborative-driven method for optimizing the control of bulk feed discharge process is provided. This method includes: S1, collecting discharge process data directly generated during the operation of bulk feed discharge, constructing a basic dataset of the discharge process, and preprocessing the basic dataset of the discharge process; S2, identifying the load change characteristics and speed response characteristics of the auger conveying process based on the basic dataset of the discharge process, and determining the conveying stagnation stage; S3, performing collaborative analysis on the feeding and releasing relationships between augers for the conveying stagnation stage, determining the inter-segment matching situation, and classifying the collaborative relationship status; S4, performing linkage evaluation on the operating status of multiple components during the discharge process according to the conveying stagnation stage, and outputting the discharge linkage control strategy in combination with the collaborative relationship status.

[0008] Furthermore, the specific steps for collecting the discharge process data directly generated during the bulk feed discharge operation and constructing the basic dataset of the discharge process are as follows: Collect the basic data of the discharge process directly generated during the bulk feed discharge operation, including the current of the horizontal auger motor, the current of the vertical auger motor, the current of the movable auger motor, the speed of the horizontal auger motor, the speed of the vertical auger motor, the speed of the movable auger motor, the voltage of the horizontal auger motor, the voltage of the vertical auger motor, the voltage of the movable auger motor, the voltage of the auxiliary motor, the current of the auxiliary motor, and the opening of the discharge port; Add time stamps to all the basic data of the discharge process and arrange them in chronological order to establish a continuous time index; Perform time alignment processing on the basic data of the discharge process according to a unified control cycle to form a control cycle sequence; Establish a correspondence between the time stamps and the control cycle sequence to construct the basic dataset of the discharge process.

[0009] Furthermore, the specific steps for preprocessing the basic dataset of the discharge process are as follows: Based on the time stamp and control cycle sequence, the basic dataset of the discharge process is processed by a sliding time window aligned with the control cycle. Combining the asynchronous sampling characteristics formed by the three-segment auger start-stop interval and load transfer, the median absolute deviation method and the isolated forest algorithm are used to jointly identify and remove anomalies. Resampling processing is performed on misaligned data across control cycles around the continuous time index, and the control cycle beat is unified. Piecewise cubic spline interpolation is used to fill in short-term missing intervals. The exponential weighted moving average algorithm and the Kalman filter algorithm are used for smoothing. The basic dataset of the discharge process is standardized using the standard deviation standardization method and normalized using the max-min normalization method.

[0010] Further, the specific steps for identifying the load change characteristics and speed response characteristics during the auger conveying process based on the basic dataset of the material discharge process are as follows: Match the time stamps within the control cycle sequence, call the voltages of the horizontal auger motor, vertical auger motor, active auger motor, and auxiliary motor, and correspond them with the currents of the horizontal auger motor, vertical auger motor, active auger motor, and auxiliary motor, perform product calculations, and accumulate them within the control cycle to obtain the total power of the upper structure; trace back the control cycle sequence corresponding to the continuous time index, extract the historical sequences of the currents of the horizontal auger motor, vertical auger motor, and active auger motor, as well as the speeds of the horizontal auger motor, vertical auger motor, and active auger motor, filter out non-zero positive values, and perform minimum value extraction and unified scale processing to obtain the electric drive response compensation amount; add the currents of the horizontal auger motor and vertical auger motor to the total power of the upper structure to obtain the current-power combination sum; and add the currents of the active auger motor... The opening degree of the flow and discharge ports is added to the electric drive response compensation amount to obtain the current opening compensation sum; the current power combination sum is divided by the current opening compensation sum to obtain the logarithmic input value and a natural logarithmic operation is performed to obtain the logarithmic term result; the difference between the current of the horizontal auger motor and the current of the vertical auger motor is calculated to obtain the upper and middle section current difference and the square is calculated; the difference between the current of the vertical auger motor and the current of the movable auger motor is calculated to obtain the middle and final section current difference and the square is calculated; the square result of the upper and middle section current difference is added to the square result of the middle and final section current difference to obtain the current difference square cumulative value; the speed of the horizontal auger motor, the speed of the vertical auger motor, the speed of the movable auger motor are added to the electric drive response compensation amount to obtain the speed compensation combination sum and the square is calculated to obtain the speed square term; the current difference square cumulative value is divided by the speed square term to obtain the difference ratio term; the resistance amplification coefficient is multiplied by the difference ratio term to obtain the amplification difference term; the logarithmic term result is added to the amplification difference term to obtain the conveying resistance transmission value.

[0011] Further, the specific steps of the conveying obstruction determination stage are as follows: The conveying obstruction transmission value is compared with the transmission threshold in real time, the transmission threshold including a primary transmission threshold and a secondary transmission threshold; when the conveying obstruction transmission value is less than the primary transmission threshold, the conveying obstruction transmission value is written into the conveying obstruction determination buffer, keeping the speed of the active auger motor, the vertical auger motor, and the horizontal auger motor corresponding to the current control cycle speed unchanged, while keeping the one-key unloading start interval and stop interval corresponding to the current control cycle time unchanged, and not performing speed and interval time updates; when the conveying obstruction transmission value is greater than or equal to the primary transmission threshold and less than the secondary transmission threshold, based on the current control cycle speed... Increase the speed of the moving auger motor, keep the speed of the vertical auger motor constant, reduce the speed of the horizontal auger motor based on the current control cycle speed, shorten the one-button unloading start interval, and adjust the unloading port to the maximum opening; when the conveying resistance transmission value is greater than or equal to the secondary transmission threshold, adjust the speed of the horizontal auger motor to the minimum speed within the current control cycle, switch the vertical auger motor operation control to periodic start-stop control, increase the speed of the moving auger motor based on the current control cycle speed, adjust the one-button unloading start interval to the minimum time interval within the current control cycle, switch the unloading port opening to the maximum opening, and switch the dust collector working time to continuous operation.

[0012] Furthermore, regarding the stage of conveying stagnation, the specific steps for performing collaborative analysis on the feeding and releasing relationships between the augers are as follows: Combining the conveying stagnation transmission value, the load change trends and conveying speed change trends between the upstream and middle sections, and between the middle and end sections, are compared within a continuous control cycle window. The load change trend is obtained by performing a first-order differential sign determination on the corresponding motor current sequence within the continuous control cycle window, and the conveying speed change trend is obtained by performing a first-order differential sign determination on the corresponding motor speed sequence within the continuous control cycle window. The length of the continuous control cycle window is determined by performing autocorrelation analysis on the motor current sequence and... The number of periods corresponding to the change from positive to negative autocorrelation in the autocorrelation function is selected. When the signs of the load change trend and the conveying speed change trend are consistent between two adjacent segments, they are determined to be synchronous changes; otherwise, they are determined to be asynchronous changes. Based on the time sequence of the first change in the sign of the load change trend within the continuous control cycle window, the transmission path of the change between the upstream, middle, and end segments is determined. Combined with the discharge port opening, the load change trend and the conveying speed change trend of the end segment are compared. When the discharge port opening is greater than zero and the load change trend is increasing while the conveying speed change trend is decreasing, it is determined to be a state of restricted discharge at the end segment.

[0013] Furthermore, the specific steps for determining the inter-segment matching status and classifying the collaborative relationship status are as follows: When the upstream segment and the middle segment are asynchronously changing, and the change transmission path is from the upstream segment to the middle segment, it is determined to be a supply and receiving mismatch; when the change transmission path passes through the upstream segment, the middle segment, and the end segment in sequence, and the adjacent segments are asynchronously changing, it is determined to be a receiving and releasing mismatch; when the end-of-segment discharge is restricted, and the change transmission path is reversed from the end segment to the middle segment or the upstream segment, it is determined to be an end-of-segment release mismatch; when the upstream segment and the middle segment, as well as the middle segment and the end segment, are synchronously changing, and there is no end-of-segment discharge restriction, it is determined to be an inter-segment matching; based on the determination results of supply and receiving mismatch, receiving and releasing mismatch, end-of-segment release mismatch, and inter-segment matching, the collaborative relationship status is classified into strong supply and weak receiving type, restricted receiving type, end-of-segment obstructed type, and overall balanced type, and the dominant imbalance segment and its propagation direction are marked.

[0014] Further, the specific steps for performing a linkage evaluation of the multi-component operating status during the material discharge process based on the conveying obstruction stage are as follows: Extract the conveying obstruction transmission value from the conveying obstruction determination buffer; obtain the electric drive response compensation amount; add the active auger motor speed to the discharge port opening to obtain the release combination sum; add the horizontal auger motor speed, the vertical auger motor speed, and the electric drive response compensation amount to obtain the speed compensation sum; divide the release combination sum by the speed compensation sum to obtain the release ratio; multiply the conveying obstruction transmission value by the release ratio to obtain the obstruction release coordination value; subtract the active auger motor current from the horizontal auger motor current to obtain the current difference; add the horizontal auger motor current, the active auger motor current, and the electric drive response compensation amount to obtain the current compensation sum; divide the current difference by the current compensation sum to obtain the current ratio; multiply the linkage correction coefficient by the current ratio to obtain the linkage correction amount; subtract the linkage correction amount from the obstruction release coordination value to obtain the material discharge linkage drive value.

[0015] Furthermore, the specific steps of the combined output discharge linkage control strategy based on the collaborative relationship status are as follows: Determine the adjustment object and direction according to the collaborative relationship status: When the collaborative relationship status is strong supply and weak support, increase the speed of the moving auger motor and decrease the speed of the horizontal auger motor; when the collaborative relationship status is limited support, adjust the speed of the vertical auger motor and decrease the speed of the horizontal auger motor; when the collaborative relationship status is obstructed at the end, adjust the opening of the discharge port and increase the speed of the moving auger motor; when the collaborative relationship status is balanced overall, synchronize the speeds of the moving auger motor, the vertical auger motor, and the horizontal auger motor. The discharge linkage drive value performs amplitude control on the adjusted object in the adjustment direction, wherein the speed of the movable auger motor is adjusted to increase, the speed of the vertical auger motor is adjusted synchronously, and the speed of the horizontal auger motor is adjusted to decrease. Based on the discharge linkage drive value, the start interval and stop interval of the one-button unloading are adjusted synchronously, and the start and stop intervals of the movable auger motor, vertical auger motor, and horizontal auger motor are adjusted to be consistent. Based on the discharge linkage drive value, the opening of the discharge port is adjusted, and the working time and interval of the dust collector are adjusted synchronously. The discharge linkage drive value is written into the current control cycle register and used as the adjustment input for subsequent control cycles until a new conveying resistance transmission value is completed and updated.

[0016] On the other hand, a collaborative-driven bulk feed discharge process control optimization system is provided. This system is applied to a collaborative-driven bulk feed discharge process control optimization method. The system includes: a discharge source state acquisition module, used to collect discharge process data directly generated during the bulk feed discharge operation, construct a basic dataset of the discharge process, and preprocess the basic dataset of the discharge process; a conveying obstruction identification module, used to identify the load change characteristics and speed response characteristics of the auger conveying process based on the basic dataset of the discharge process, and identify the conveying obstruction stage; an inter-segment collaborative evaluation module, used to perform collaborative analysis on the feeding and releasing relationships between augers in the context of the conveying obstruction stage, identify the inter-segment matching situation, and complete the classification of collaborative relationship status; and a linkage-driven control module, used to perform linkage evaluation on the operating status of multiple components during the discharge execution process according to the conveying obstruction stage, and output the discharge linkage control strategy in combination with the collaborative relationship status.

[0017] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: (1) The basic dataset of the material discharge process of this invention establishes a unified index structure with time stamp and control cycle sequence. Combined with sliding time window processing, anomaly identification, resampling, interpolation and smoothing processing, the current of horizontal auger motor, current of vertical auger motor, current of moving auger motor and speed sequence have consistency and continuity under the same cycle. Compared with the control method that relies on single-point sampling, it improves the comparability and timing consistency between multi-source signals and enhances the stable input basis for subsequent identification and control calculation.

[0018] (2) This invention focuses on the total power of the superstructure, the electric drive response compensation amount, the current power combination, the current opening compensation and the construction of the transmission resistance value. It introduces the current difference square accumulation value and the speed square term into a unified expression, so that the load change and speed response form a coupled representation in the same dimension system. Compared with the method of judging only the single variable of current or speed, it realizes the cumulative amplification and stage differentiation of continuous weak changes, and improves the continuity and distinguishability of the transmission resistance stage division.

[0019] (3) Based on the sign determination of the load change trend and the conveying speed change trend within the continuous control cycle window, this invention combines the change transmission path and the unloading port opening constraint to form a collaborative relationship state classification, so that the supply relationship and release relationship are expressed with a unified judgment logic. Compared with the independent segment control method, it enhances the traceability of the response correlation between segments and the ability to identify the propagation path, and provides a structured basis for the location of imbalance and the determination of the adjustment direction.

[0020] (4) The present invention constructs a synergistic value of stagnation and release by conveying stagnation transmission value and release ratio, and forms a discharge linkage drive value by combining current ratio and linkage correction amount. The speed of the active auger motor, the speed of the vertical auger motor, the speed of the horizontal auger motor and the opening of the discharge port are incorporated into a unified drive input to achieve synchronous constraint of adjustment amplitude and direction. Compared with the decentralized adjustment strategy, it improves the consistency and response continuity of multi-component linkage control, and makes the adjustment results within the control cycle have sustainable iterative characteristics.

[0021] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of the control and optimization method for bulk feed discharge process based on collaborative driving provided in the embodiments of the present invention; Figure 2 This is a structural diagram of the bulk feed discharge process control optimization system based on collaborative driving provided in an embodiment of the present invention; Figure 3 This is a trend chart of the discharge linkage driving value provided in the embodiments of the present invention; Figure 4 This is a schematic diagram of the bulk feed truck structure provided in an embodiment of the present invention. Detailed Implementation

[0024] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0025] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0026] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0027] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0028] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0029] This invention provides a collaborative-driven method for optimizing the control of bulk feed discharge processes. For example... Figure 1As shown, the processing flow of this method may include the following steps: S1, collecting discharge process data directly generated during the operation of bulk feed discharge, constructing a basic dataset of the discharge process, and preprocessing the basic dataset of the discharge process; S2, identifying the load change characteristics and speed response characteristics of the auger conveying process based on the basic dataset of the discharge process, and determining the conveying stagnation stage; S3, performing collaborative analysis on the feeding and releasing relationships between augers for the conveying stagnation stage, determining the inter-segment matching situation, and completing the classification of collaborative relationship status; S4, performing linkage evaluation on the operating status of multiple components during the discharge process according to the conveying stagnation stage, and outputting the discharge linkage control strategy in combination with the collaborative relationship status.

[0030] Optionally, the following steps are taken to collect basic data on the discharge process directly generated during the bulk feed discharge operation and construct a basic dataset of the discharge process: Collect basic data on the discharge process directly generated during the bulk feed discharge operation, including: installing Hall current sensors in the drive circuits of the horizontal auger motor, vertical auger motor, and movable auger motor to obtain the current of the horizontal auger motor, vertical auger motor, and movable auger motor respectively; installing incremental encoders on the output shafts of the three auger motors to obtain the speeds of the horizontal auger motor, vertical auger motor, and movable auger motor; connecting isolated voltage sampling circuits to the DC bus side of each motor driver to obtain the voltages of the horizontal auger motor, vertical auger motor, movable auger motor, and auxiliary motor; connecting a shunt resistor in series in the power supply circuit of the auxiliary motor and using an isolated amplifier circuit to obtain the current of the auxiliary motor; and installing an absolute angle sensor at the shaft of the discharge port actuator to obtain the opening degree of the discharge port. A switch-based acquisition circuit is connected to the control loop of the dust collector's solenoid valve to obtain the dust collector's operating status, and the controller's timing unit records the dust collector's operating time and interval time. A time stamp generated by the controller's internal clock unit is added to all basic data of the discharge process, and the data is arranged in chronological order to establish a continuous time index, ensuring that the outputs of different acquisition channels are uniformly mapped to the same time axis. The basic data of the discharge process undergoes time alignment processing according to a unified control cycle to form a control cycle sequence. The unified control cycle is selected as the time length corresponding to the least common multiple of the sampling frequencies of each acquisition channel, ensuring that the control cycle covers multiple sampling points and is longer than the single sampling interval. Within the control cycle, window aggregation and alignment mapping are performed on each sampling point to eliminate time misalignment caused by different sampling frequencies. A correspondence is established between the time stamp and the control cycle sequence, ensuring that each control cycle corresponds to a unique time interval and forming a periodic index structure, thus constructing the basic dataset of the discharge process.

[0031] In this implementation scheme, the basic dataset of the material discharge process forms a unified time stamp and a corresponding relationship with the control cycle sequence. Discrete acquisition results complete the cycle time unification and timing alignment under continuous time index. Multi-source acquisition channels have consistent expression capabilities within the same control cycle. Cross-motor operating status can be correlated and analyzed at the same time scale. Data continuity and comparability are stably maintained, providing a stable input basis for subsequent discrimination of conveying stagnation stages and analysis of collaborative relationships.

[0032] Optionally, the preprocessing steps for the basic dataset of the discharge process are as follows: Based on the time stamp and control cycle sequence, a sliding time window process aligned with the control cycle is performed on the basic dataset of the discharge process. The length of the sliding time window is consistent with the length of the control cycle and covers multiple sampling points, so that the data within the same window has a unified time range. Combining the asynchronous sampling characteristics formed by the three-segment auger start-stop interval and load transfer, the median absolute deviation method is used to characterize the degree of local fluctuation deviation and cross-judgment with the anomaly score output by the isolated forest algorithm to complete anomaly identification and removal; Resampling processing is performed on the misaligned data across control cycles around the continuous time index, mapping different sampling beats to a unified time range. The system controls the boundary of the control cycle and aligns the time. For short-term missing intervals, piecewise cubic spline interpolation is used to fill in the gaps, ensuring continuous data changes within the missing intervals and meeting the transition requirements of adjacent control cycles. The processed data sequence is smoothed using an exponentially weighted moving average algorithm and a Kalman filter algorithm to suppress random fluctuations and measurement noise while preserving the true trend of change. The basic dataset of the discharge process is standardized using the standard deviation standardization method, transforming data of different dimensions into a dimensionless expression centered on the mean. The min-max normalization method is then used to normalize the data range to a unified interval, enabling the comparison and fusion of multi-source features at the same scale.

[0033] In this implementation plan, the basic dataset of the material discharge process is aligned in time and unified in cycle under the constraints of a unified control cycle sequence. Abnormal disturbances are identified and eliminated, missing intervals are continuously filled in, data fluctuations tend to be stable, dimensional differences are eliminated and transformed into dimensionless expressions, multi-source information has consistency and comparability at the same scale, and the data structure is more continuous and stable, providing a reliable input basis for the identification of the conveying obstruction stage and the analysis of the collaborative relationship.

[0034] Optionally, the specific steps for identifying load change characteristics and speed response characteristics during the auger conveying process based on the basic dataset of the material discharge process are as follows: Match the time stamps within the control cycle sequence, retrieve the voltages of the horizontal auger motor, vertical auger motor, active auger motor, and auxiliary motor, and correspondingly the currents of the horizontal auger motor, vertical auger motor, active auger motor, and auxiliary motor, perform product calculations, and perform discrete integral accumulation at sampling intervals within the control cycle. Then, divide by the control cycle duration to obtain the cycle average power, which is used as the total power of the upper structure to maintain consistent power dimensions; trace back the control cycle sequence corresponding to the continuous time index, and extract the currents of the horizontal auger motor, vertical auger motor, active auger motor, and auxiliary motor. Historical sequences of auger motor current, moving auger motor current, and horizontal auger motor speed, vertical auger motor speed, and moving auger motor speed were analyzed. Non-zero positive values ​​were filtered to eliminate the influence of shutdown or reverse states. The minimum positive value was selected as the lower bound benchmark for the system response in the low-load stable operating range. A unified scaling method based on rated current and rated speed was used to map each quantity to a dimensionless expression, obtaining the electric drive response compensation amount to compensate for the low response range. The horizontal auger motor current, vertical auger motor current, and the dimensionless processed total power of the upper structure were added to obtain the current-power combination sum. The moving auger motor current, unloading port opening, and electric drive response compensation amount were uniformly mapped to... The current opening compensation sum is obtained by summing the values ​​on the same dimensionless scale, ensuring that the numerator and denominator maintain a consistent dimensional basis. The current power combination sum is divided by the current opening compensation sum to obtain a logarithmic input value, which is then subjected to natural logarithmic calculation to compress the numerical range and enhance the expression of differences. The difference between the horizontal and vertical auger motor currents is calculated to obtain the upper-middle section current difference, which is then squared. The difference between the vertical and movable auger motor currents is calculated to obtain the middle-to-lower section current difference, which is then squared. The squared results of the upper-middle section current difference and the middle-to-lower section current difference are then added together to obtain the cumulative squared current difference value, which characterizes the degree of load imbalance between sections. The horizontal auger motor speed, vertical... The auger motor speed, the active auger motor speed, and the electric drive response compensation amount are processed using a unified scale and then added together to obtain the speed compensation combination sum. A square calculation is then performed to obtain the speed square term. The accumulated square value of the current difference is divided by the speed square term to obtain the difference ratio term. A sample set is constructed using the total power sequence of the superstructure and the current variation amplitude sequence of the three auger segments within the historical operating cycle. The Pearson correlation coefficient calculation algorithm is used to obtain the correlation strength between the two types of sequences, and the correlation strength is subjected to maximum-minimum normalization to obtain the hysteresis amplification coefficient, with a value ranging from 0 to 1. The hysteresis amplification coefficient is multiplied by the difference ratio term to obtain the amplification difference term. The logarithmic result is added to the amplification difference term to obtain the transmission hysteresis transmission value. The transmission hysteresis transmission value, composed of the load difference and speed response, constitutes a normalized coupling quantity, comprehensively characterizing the inter-segment imbalance and transmission trend, and is used to characterize the hysteresis evolution intensity and expansion direction.

[0035] The specific calculation method for the transmission resistance value is as follows: ; In the formula, Indicates the transmission resistance value. This indicates the current of the horizontal auger motor. This indicates the current of the vertical auger motor. Indicates the current of the active auger motor. This indicates the speed of the horizontal auger motor. This indicates the speed of the vertical auger motor. Indicates the rotational speed of the active auger motor. Indicates the total power of the upper structure. Indicates the opening degree of the discharge port. Indicates the hysteresis amplification factor. This indicates the amount of compensation for the electric drive response.

[0036] In this implementation scheme, load change characteristics and speed response characteristics are coupled and expressed under a unified scale. The correlation between power, load and speed is compressed into a single identification quantity. The continuous change process is enhanced and characterized. The degree of imbalance between segments and the overall transport status are synchronously depicted. Weak change signals have amplification and identification capabilities. The stability of numerical expression is improved, providing a continuous and distinguishable identification basis for the division of transport stagnation stages.

[0037] Optionally, the specific steps for determining the conveying obstruction stage are as follows: The conveying obstruction transmission value is compared with the transmission threshold in real time. The transmission threshold includes a primary transmission threshold and a secondary transmission threshold, which are obtained by dividing the distribution range of conveying obstruction transmission values ​​within the historical operating cycle to distinguish between different obstruction degree ranges. When the conveying obstruction transmission value is less than the primary transmission threshold, the conveying obstruction transmission value is written into the conveying obstruction determination buffer area. The rotational speeds of the active auger motor, vertical auger motor, and horizontal auger motor remain unchanged for the current control cycle, while the start and stop intervals for one-key unloading remain unchanged for the current control cycle. No speed or interval updates are performed. When the conveying obstruction transmission value is greater than or equal to the primary transmission threshold and less than the secondary transmission threshold, the rotational speed of the active auger motor is increased based on the current control cycle rotational speed, while the rotational speed of the vertical auger motor remains unchanged. Based on the existing speed, reduce the speed of the horizontal auger motor, shorten the one-button unloading start interval, and adjust the unloading port to its maximum opening. The maximum opening is defined as the maximum allowable opening position of the unloading port actuator within the current rated opening range of the equipment. When the conveying resistance transmission value is greater than or equal to the secondary transmission threshold, adjust the speed of the horizontal auger motor to the minimum speed within the current control cycle. The minimum speed is defined as the lowest stable operating speed of the horizontal auger motor within the rated operating range of the equipment. Switch the vertical auger motor operation control to periodic start-stop control, increase the speed of the active auger motor based on the current control cycle speed, and adjust the one-button unloading start interval to the minimum time interval within the current control cycle. The minimum time interval is defined as the shortest start-stop interval allowed in the controller parameter settings. Switch the unloading port opening to its maximum opening, and switch the dust collector operating time to continuous operation.

[0038] In this implementation plan, the conveying resistance transmission value and the transmission threshold form a hierarchical discrimination structure. Different degrees of resistance correspond to different operation control modes. The rotation speed, start-stop interval and discharge port opening are coordinated and adjusted within the same control cycle. The operation status gradually transitions from stable to intervention and relief stages. The control response has continuity and hierarchy. The discharge process maintains consistent rhythm and orderly operation under dynamic changes.

[0039] Optionally, for the conveying stagnation stage, the specific steps for performing a collaborative analysis on the feeding and releasing relationships between the augers are as follows: Combining the conveying stagnation transmission value, the load change trends and conveying speed change trends between the upstream and mid-sections, and between the mid-section and the end, are compared within a continuous control cycle window. The continuous control cycle window consists of multiple adjacent control cycles and covers the complete load transmission process. The load change trend is obtained by performing a first-order difference on the corresponding motor current sequence within the continuous control cycle window and extracting the sign direction of the difference result. The difference sign is used to characterize the direction of load increase or decrease. The conveying speed change trend is obtained by performing a first-order difference on the corresponding motor speed sequence within the continuous control cycle window and extracting the sign direction, used to characterize the acceleration or deceleration of the conveying speed. The length of the continuous control cycle window is obtained by performing autocorrelation analysis on the motor current sequence. The autocorrelation function changes from positive correlation to negative correlation as the lag order increases. The number of cycles corresponding to non-positive correlation is used to characterize the dominant cycle of load change, so that the window length is consistent with the actual load fluctuation rhythm. When the signs of the load change trend and the conveying speed change trend are consistent between two adjacent segments, they are judged as synchronous changes; otherwise, they are judged as asynchronous changes. Based on the time sequence of the first change of the load change trend sign within the continuous control cycle window, the starting position of the change is recorded along the time axis and the change sequence relationship between different segments is sorted to determine the transmission path of the change between the upstream, middle and end segments. Combined with the discharge port opening, the load change trend and the conveying speed change trend of the end segment are compared. When the discharge port opening is greater than zero and the load change trend is increasing and the conveying speed change trend is decreasing, it is judged as the end discharge restricted state. The discharge port opening being greater than zero is used to indicate that the discharge channel is in the open state, thereby distinguishing the difference between limited discharge capacity and mechanical conveying obstruction.

[0040] In this implementation scheme, the load change trend and the conveying speed change trend form a unified judgment structure within the continuous control cycle window. The inter-segment change relationship and propagation sequence are clearly expressed. The matching status of the supply relationship and release relationship is distinguishable. The end discharge restriction status can be identified synchronously with the changes in the conveying process. The inter-segment coordination relationship shows continuous evolution characteristics, providing a clear basis for subsequent classification of coordination relationship status and determination of control direction.

[0041] Optionally, the specific steps for determining the inter-segment matching status and classifying the collaborative relationship status are as follows: When the upstream segment and the middle segment are asynchronously changing, and the change transmission path points from the upstream segment to the middle segment, it is determined to be a supply and receiving mismatch. The change transmission path is determined based on the time sequence of the first change of the load change trend sign within the continuous control cycle window, which is used to characterize the direction of load disturbance transmission from the supply end to the receiving end; when the change transmission path passes through the upstream segment, the middle segment, and the end segment in sequence, and the adjacent segments are asynchronously changing, it is determined to be a receiving and releasing mismatch, which is used to characterize the state where insufficient receiving capacity in the middle segment leads to the gradual accumulation of load along the conveyor chain; when the end segment discharge is restricted, and the change transmission path points from the end segment to the middle segment or upstream segment... When the material is transferred, it is judged as a mismatch in end release, indicating that the back pressure effect caused by insufficient end release capacity propagates in the reverse direction along the conveyor chain. When the upstream and middle sections and the middle and end sections are all changing synchronously and there is no end discharge restriction, it is judged as inter-section matching, indicating that the conveying rhythm of each section is consistent. Based on the judgment results of supply and receiving mismatch, receiving and release mismatch, end release mismatch and inter-section matching, the cooperative relationship status is classified into supply strong and receiving weak type, receiving limited type, end obstructed type and overall balanced type. The imbalance dominant section is determined based on the starting section of the change transmission path, and the propagation direction is determined based on the direction of the change transmission path, so that the cooperative relationship status and the subsequent adjustment object selection and adjustment direction form a one-to-one correspondence.

[0042] In this implementation plan, the inter-segment matching results are structured, the collaborative relationship status is clearly categorized, the change transmission path and propagation direction are clearly expressed, the imbalance-dominant segment is locatable, the direction of action between the supply and release relationships is interpretably mapped, and the collaborative relationship status is established in correspondence with the adjustment object and adjustment direction, providing a deterministic input basis for the generation of linkage control strategies.

[0043] Optionally, the specific steps for performing a coordinated evaluation of the multi-component operating status during the discharge process based on the conveying stagnation stage are as follows: Extract the conveying stagnation transmission value from the conveying stagnation determination buffer; obtain the electric drive response compensation amount and use the rated speed and rated current as a benchmark to perform proportional scaling on the relevant quantities, transforming data from different sources into dimensionless expressions; normalize and map the active auger motor speed and the discharge port opening under a unified scale, then add them to obtain the release combination sum; superimpose the horizontal auger motor speed, the vertical auger motor speed, and the electric drive response compensation amount in the same dimensionless space to obtain the speed compensation sum; divide the release combination sum by the speed compensation sum to obtain the release ratio, making the release capacity comparable to the conveying capacity; multiply the conveying stagnation transmission value by the release ratio to obtain the stagnation-release synergy value, used to characterize the coupling state between the stagnation degree and the release capacity; multiply the horizontal auger motor speed by the speed compensation sum to obtain the release ratio, making the release capacity comparable to the conveying capacity; multiply the conveying stagnation transmission value by the release ratio to obtain the stagnation-release synergy value, used to characterize the coupling state between the stagnation degree and the release capacity; and then... The current difference is obtained by subtracting the current of the moving auger motor from the current of the horizontal auger motor. This current is then normalized to the rated current. The currents of the horizontal and moving auger motors are added to the electric drive response compensation on a unified dimensionless scale to obtain the current compensation sum. The current difference is divided by the current compensation sum to obtain the current ratio, expressing the load difference proportionally. A difference sequence is constructed from the upstream feeding current sequence and the end discharge current sequence within the historical operating cycle. The Spearman rank correlation algorithm is used to calculate the monotonic correlation strength between the trend of the difference and the trend of the end discharge, obtaining a linkage correction coefficient ranging from -1 to 1. The linkage correction coefficient is multiplied by the current ratio to obtain the linkage correction amount. The discharge linkage drive value is obtained by subtracting the linkage correction amount from the resistance release coordination value, thus forming a linkage drive expression that can be directly used for adjustment within a unified dimensionless space. The discharge linkage drive value is obtained by correcting the load difference for the coupling term of resistance degree and release capacity, characterizing the overall imbalance direction and adjustment intensity of the conveyor chain, and is used to drive the coordinated control of multiple components.

[0044] The specific calculation method for the discharge linkage drive value is as follows: ; In the formula, Indicates the discharge linkage drive value. Indicates the transmission resistance value. Indicates the rotational speed of the active auger motor. This indicates the speed of the horizontal auger motor. This indicates the speed of the vertical auger motor. This indicates the current of the horizontal auger motor. Indicates the current of the active auger motor. Indicates the opening degree of the discharge port. Indicates the linkage correction coefficient. This indicates the amount of compensation for the electric drive response.

[0045] Table 1 shows the data table of discharge linkage drive values ​​provided in the embodiments of this application. The conveying resistance transmission value of discharge 1 is set to 1.20, the speed of the movable auger motor is set to 920.00, the speed of the horizontal auger motor is set to 780.00, the speed of the vertical auger motor is set to 860.00, the current of the horizontal auger motor is set to 18.40, the current of the movable auger motor is set to 15.60, the discharge port opening is set to 1.00, the linkage correction coefficient is set to 0.35, and the electric drive response compensation is set to 0.20; the conveying resistance transmission value of discharge 2 is set to 1.45, and the speed of the movable auger motor is set to 980.00. The horizontal auger motor speed is set to 820.00, the vertical auger motor speed is set to 910.00, the horizontal auger motor current is set to 21.30, the movable auger motor current is set to 17.20, the discharge port opening is set to 1.00, the linkage correction coefficient is set to 0.42, and the electric drive response compensation is set to 0.20; the conveying resistance transmission value of discharge 3 is set to 1.68, the movable auger motor speed is set to 1050.00, the horizontal auger motor speed is set to 840.00, the vertical auger motor speed is set to 930.00, and the water... The current of the horizontal auger motor is set to 24.80, the current of the movable auger motor is set to 18.90, the discharge port opening is set to 1.00, the linkage correction coefficient is set to 0.50, and the electric drive response compensation is set to 0.25; the conveying resistance transmission value of discharge 4 is set to 1.10, the speed of the movable auger motor is set to 860.00, the speed of the horizontal auger motor is set to 760.00, the speed of the vertical auger motor is set to 820.00, the current of the horizontal auger motor is set to 16.70, the current of the movable auger motor is set to 14.80, and the discharge port opening is set to... The following parameters are set: 1.00, linkage correction coefficient 0.28, electric drive response compensation 0.15; conveying resistance transmission value of discharge 5 1.85, moving auger motor speed 1120.00, horizontal auger motor speed 880.00, vertical auger motor speed 970.00, horizontal auger motor current 26.40, moving auger motor current 19.60, discharge port opening 1.00, linkage correction coefficient 0.58, electric drive response compensation 0.25.

[0046] Table 1. Data Table of Material Discharge Linkage Drive Values

[0047] like Figure 3The figure shows the trend of the discharge linkage driving value. According to the data in the image and table, the discharge linkage driving values ​​for the five discharge stages fluctuated between 0.58 and 1.04, exhibiting a trend of first gradually increasing, then significantly decreasing, and then rapidly rebounding. From discharge 1 to discharge 3, the discharge linkage driving value gradually increased from 0.65 to 0.93, indicating that the supply and receiving relationships in each segment of the conveying chain gradually became more matched, and the degree of linkage coordination increased. The discharge linkage driving value for discharge 4 decreased to 0.58, showing a significant trough, reflecting a staged mismatch in the conveying chain, possibly manifested as insufficient receiving capacity in the middle section or limited release at the end. The discharge linkage driving value for discharge 5 rose to 1.04, the highest value in the entire sequence, indicating that the supply, receiving, and release relationships were restored and formed a strong synergistic state in this stage. This trend figure can intuitively reflect the dynamic changes in the linkage state at each stage of the material discharge process, providing data support for identifying the location of conveying blockage evolution and determining the inter-segment synergistic relationship.

[0048] In this implementation scheme, the operating status of multiple components is integrated and expressed under a unified dimensionless scale, a stable proportional relationship is formed between the release capacity and the conveying capacity, the load difference and the response relationship are synergistically characterized, the stagnation state and the operation adjustment direction are coupled and mapped, and the linkage drive result has continuous change characteristics and consistent expression ability, providing a unified drive input basis for subsequent material discharge linkage control strategy.

[0049] Optionally, the specific steps of the output discharge linkage control strategy based on the collaborative relationship status are as follows: Determine the adjustment object and direction according to the collaborative relationship status. When the collaborative relationship status is "strong supply, weak support," increase the speed of the movable auger motor and decrease the speed of the horizontal auger motor. The increase and decrease adjustments are mapped to positive or negative speed corrections within the rated speed range based on the discharge linkage drive value. When the collaborative relationship status is "limited support," adjust the speed of the vertical auger motor rhythmically and decrease the speed of the horizontal auger motor. The rhythm adjustment reconstructs the start-stop duty cycle within a continuous control cycle, allowing the vertical auger to form an intermittent conveying mode within multiple control cycles. When the collaborative relationship status is "end-obstructed," adjust the opening of the discharge port and increase the speed of the movable auger motor. The opening adjustment is proportionally mapped based on the rated opening range of the discharge port actuator. When the collaborative relationship status is "overall balanced," synchronize the speeds of the movable auger motor, vertical auger motor, and horizontal auger motor. The step adjustment is manifested in the following ways: the three-stage auger speeds are corrected in the same direction according to a unified proportional coefficient; based on the discharge linkage drive value, amplitude control is performed on the adjusted object in the adjustment direction. The amplitude control is normalized and mapped by the distribution range of the discharge linkage drive value within the historical operating range, and the result is converted into a speed correction proportional coefficient and applied to the speed of the current control cycle; based on the discharge linkage drive value, the start interval and stop interval of the one-button unloading are adjusted synchronously, and the start and stop intervals of the active auger motor, vertical auger motor and horizontal auger motor are adjusted consistently. The consistency adjustment is constrained by maintaining a fixed proportional relationship between the start and stop time differences of each motor within the control cycle; based on the discharge linkage drive value, the opening of the discharge port is adjusted, and combined with the influence of the change in the discharge port opening on the resistance of the material release at the end, the working time and interval of the dust collector are linked and matched with the opening rhythm of the discharge port to keep the operating rhythm of the dust collector consistent with the discharge rhythm; the discharge linkage drive value is written into the register area of ​​the current control cycle and used as the adjustment input for the subsequent control cycle until the new conveying resistance transmission value is completed and updated.

[0050] In this implementation scheme, the state-driven adjustment object and the adjustment direction of the collaborative relationship form a corresponding mapping. The speed, start-stop interval and discharge port opening complete the amplitude constraint and rhythm reconstruction within a unified control cycle. The three-stage screw conveyor operation rhythm remains consistent. The release capacity and the feeding capacity achieve dynamic matching. The discharge linkage driving value continues to act within a continuous control cycle. The control process has continuity and iterability, and the stability of the discharge process is continuously maintained.

[0051] like Figure 2The diagram shows a structural schematic of a bulk feed discharge process control optimization system based on collaborative driving. The system, provided in this embodiment, applies a collaborative driving method for bulk feed discharge process control optimization and includes: a discharge source state acquisition module, used to collect discharge process data directly generated during the bulk feed discharge operation, covering motor current, voltage, speed, and discharge port opening; and a basic dataset for the discharge process constructed based on time stamps and control cycle sequences, followed by time alignment and preprocessing; and a conveying obstruction identification module, used to analyze load change characteristics and speed response based on the basic dataset for the discharge process. Features are coupled and calculated to form a conveying stagnation transmission value and perform hierarchical discrimination to obtain the conveying stagnation stage; the inter-segment collaborative evaluation module is used to analyze the correlation between the load change trend and the conveying speed change trend of the three-segment auger in the context of the conveying stagnation stage, and to judge the inter-segment matching status and complete the classification of the collaborative relationship status by combining the change transmission path and the discharge port opening, while calibrating the unbalanced dominant segment and the propagation direction; the linkage drive control module is used to construct the discharge linkage drive value according to the conveying stagnation stage and the collaborative relationship status, and to uniformly map the speed, start-stop interval and discharge port opening to the adjustment input space, complete the linkage evaluation of the operating status of multiple components and output the discharge linkage control strategy.

[0052] In this implementation scheme, the material source state acquisition module and the linkage drive control module form a continuous processing link. The basic dataset of the material discharge process supports the identification of the conveying obstruction stage. The collaborative relationship status is expressed in a structured manner. The linkage control strategy realizes the unified drive of multiple components. The data flow and control flow remain consistent within the same control cycle. The material discharge process has stable adjustment capability and continuous response capability under dynamic changing conditions.

[0053] like Figure 4 The diagram shows the structure of a bulk feed truck. The truck includes a cab and a chassis. A bulk feed tank is mounted on the chassis. A loading hopper and feeding device are located on the top of the bulk feed tank. The interior of the bulk feed tank forms a feed storage space, and an observation window is located on the side of the tank. A discharge port is located at the top of the tank, connected to a movable auger. The movable auger's position is adjusted by a lifting cylinder. A horizontal auger is located at the bottom of the tank, connected to a vertical auger, which in turn is connected to the movable auger. The horizontal, vertical, and movable augers form a continuous conveying channel. A dust removal device is installed in the discharge area. Each auger is connected to a corresponding drive unit to achieve segmented drive of the feed conveying process.

[0054] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A collaborative-driven method for controlling and optimizing the discharge process of bulk feed, characterized in that, Includes the following steps: S1, collect the discharge process data directly generated during the bulk feed discharge operation, construct the basic dataset of the discharge process, and preprocess the basic dataset of the discharge process; S2, based on the basic dataset of the discharge process, identify the load change characteristics and speed response characteristics of the auger conveyor, and determine the conveying stagnation stage; S3, for the stage of conveying blockage, performs collaborative analysis on the feeding and releasing relationships between screw conveyors, determines the matching status between sections and completes the classification of collaborative relationship status; S4, based on the conveying stagnation stage, performs a linkage evaluation of the operating status of multiple components during the material discharge process, and outputs a material discharge linkage control strategy in combination with the collaborative relationship status; The specific steps for identifying the load change characteristics and speed response characteristics during the auger conveying process based on the basic dataset of the material discharge process are as follows: Match the time stamps within the control cycle sequence, call the voltages of the horizontal auger motor, vertical auger motor, active auger motor, and auxiliary motor, and correspondingly calculate the product of the currents of the horizontal auger motor, vertical auger motor, active auger motor, and auxiliary motor, and accumulate them within the control cycle to obtain the total power of the upper structure. By tracing back the control cycle sequence corresponding to the continuous time index, the historical sequences of horizontal auger motor current, vertical auger motor current, active auger motor current, as well as horizontal auger motor speed, vertical auger motor speed, and active auger motor speed are extracted. Non-zero positive values ​​are filtered and minimum value extraction and unified scale processing are performed to obtain the electric drive response compensation amount. Add the current of the horizontal auger motor, the current of the vertical auger motor, and the total power of the upper structure to obtain the current-power combination sum; add the current of the movable auger motor, the opening degree of the discharge port, and the electric drive response compensation amount to obtain the current opening compensation sum; divide the current-power combination sum by the current opening compensation sum to obtain the logarithmic input value and perform natural logarithmic operation to obtain the logarithmic term result. The difference between the current of the horizontal auger motor and the current of the vertical auger motor is calculated to obtain the upper-middle section current difference, and then the square is calculated. The difference between the current of the vertical auger motor and the current of the movable auger motor is calculated to obtain the middle-to-lower section current difference, and then the square is calculated. The squared results of the upper-middle section current difference and the middle-to-lower section current difference are added together to obtain the cumulative squared value of the current difference. The speeds of the horizontal auger motor, the vertical auger motor, and the movable auger motor are added together with the electric drive response compensation amount to obtain the speed compensation combination sum, and then the square is calculated to obtain the speed squared term. The cumulative squared value of the current difference is divided by the speed squared term to obtain the difference ratio term. The damping amplification factor is multiplied by the difference ratio term to obtain the amplification difference term. The logarithmic result is added to the amplified difference term to obtain the transport resistance value; The specific steps for performing collaborative analysis on the feeding and releasing relationships between the screw conveyors during the conveying stagnation stage are as follows: Combining the transmission resistance value, the load change trend and the conveying speed change trend between the upstream and middle sections, and between the middle and the end sections, are compared within a continuous control cycle window. The load change trend is obtained by performing a first-order differential sign determination on the corresponding motor current sequence within the continuous control cycle window, and the conveying speed change trend is obtained by performing a first-order differential sign determination on the corresponding motor speed sequence within the continuous control cycle window. The length of the continuous control cycle window is determined by performing autocorrelation analysis on the motor current sequence and selecting the number of cycles corresponding to the autocorrelation function changing from positive to non-positive correlation. When the sign directions of the load change trend and the conveying speed change trend are consistent between two adjacent sections, they are determined to be synchronous changes; otherwise, they are determined to be asynchronous changes. Based on the time sequence of the first change in the load change trend sign within the continuous control cycle window, the transmission path of the change between the upstream segment, the middle segment, and the end segment is determined. By combining the discharge port opening, the load change trend and the conveying speed change trend of the end section are compared. When the discharge port opening is greater than zero and the load change trend is increasing and the conveying speed change trend is decreasing, it is determined to be a state of restricted discharge at the end.

2. The method for controlling and optimizing the bulk feed discharge process based on collaborative driving as described in claim 1, characterized in that, The specific steps for collecting the discharge process data directly generated during the bulk feed discharge operation and constructing the basic dataset of the discharge process are as follows: Collect basic data of the discharge process directly generated during the operation of bulk feed discharge, including horizontal auger motor current, vertical auger motor current, moving auger motor current, horizontal auger motor speed, vertical auger motor speed, moving auger motor speed, horizontal auger motor voltage, vertical auger motor voltage, moving auger motor voltage, auxiliary motor voltage, auxiliary motor current, and discharge port opening. Add time stamps to all basic data of the material discharge process and arrange them in chronological order to create a continuous time index; The basic data of the material discharge process is time-aligned according to a unified control cycle to form a control cycle sequence; the time stamps are correlated with the control cycle sequence to construct the basic dataset of the material discharge process.

3. The method for controlling and optimizing the bulk feed discharging process based on collaborative driving as described in claim 1, characterized in that, The specific steps for preprocessing the basic dataset of the material discharge process are as follows: Based on time stamps and control cycle sequences, a sliding time window aligned with the control cycle is applied to the basic dataset of the discharge process. Combining the asynchronous sampling features formed by the three-segment auger start-stop interval and load transfer, the median absolute deviation method and the isolated forest algorithm are used to jointly identify and remove anomalies. Resampling is performed on misaligned data across control cycles based on continuous time indexes to unify the control cycle beat; piecewise cubic spline interpolation is used to fill in short-term missing intervals; exponential weighted moving average and Kalman filtering algorithms are used for smoothing; the standard deviation standardization method is used to standardize the basic dataset of the material discharge process, and the max-min normalization method is used for normalization.

4. The method for controlling and optimizing the bulk feed discharge process based on collaborative driving as described in claim 1, characterized in that, The specific steps for determining the transport obstruction stage are as follows: The transmission resistance value is compared with the transmission threshold in real time, and the transmission threshold includes a first-level transmission threshold and a second-level transmission threshold. When the conveying obstruction transmission value is less than the first-level transmission threshold, the conveying obstruction transmission value is written into the conveying obstruction judgment buffer area. The speed of the active auger motor, the speed of the vertical auger motor, and the speed of the horizontal auger motor are kept unchanged in the current control cycle. At the same time, the start interval and stop interval of the one-key unloading are kept unchanged in the current control cycle. No speed and interval time updates are performed. When the conveying resistance transmission value is greater than or equal to the first-level transmission threshold and less than the second-level transmission threshold, increase the speed of the active auger motor based on the current control cycle speed, keep the speed of the vertical auger motor unchanged, decrease the speed of the horizontal auger motor based on the current control cycle speed, shorten the one-key unloading start interval time, and adjust the unloading port to the maximum opening. When the conveying resistance value is greater than or equal to the secondary transmission threshold, the speed of the horizontal auger motor is adjusted to the minimum speed within the current control cycle, the operation control of the vertical auger motor is switched to periodic start-stop control, the speed of the moving auger motor is increased based on the speed of the current control cycle, the one-key unloading start interval is adjusted to the minimum time interval within the current control cycle, the opening of the unloading port is switched to the maximum opening, and the working time of the dust collector is switched to continuous operation.

5. The method for controlling and optimizing the bulk feed discharge process based on collaborative driving as described in claim 1, characterized in that, The specific steps for determining the inter-segment matching status and classifying the collaborative relationship status are as follows: When the upstream section and the middle section change asynchronously, and the change transmission path is from the upstream section to the middle section, it is judged as a mismatch between material supply and acceptance. When the change transmission path passes through the upstream segment, the middle segment and the end segment in sequence, and the changes between adjacent segments are asynchronous, it is determined to be a mismatch between acceptance and release. When the end discharge is restricted, and the change is transmitted in reverse from the end to the middle or upstream section, it is determined to be an end release mismatch. When the upstream and middle sections, as well as the middle and end sections, are changing synchronously and there is no restriction on material discharge at the end, it is determined to be inter-section matching; Based on the judgment results of supply and acceptance mismatch, acceptance and release mismatch, end release mismatch, and inter-segment matching, the collaborative relationship status is classified into supply strong and acceptance weak type, acceptance limited type, end blocked type, and overall balanced type, and the imbalance dominant segment and propagation direction are marked.

6. The method for controlling and optimizing the bulk feed discharge process based on collaborative driving as described in claim 1, characterized in that, The specific steps for performing a coordinated evaluation of the operating status of multiple components during the material discharge process based on the stage of conveying stagnation are as follows: Extract the transmission obstruction value from the buffer area based on the transmission obstruction determination; obtain the electric drive response compensation amount; Add the speed of the active auger motor to the opening of the discharge port to obtain the release combination sum; add the speed of the horizontal auger motor, the speed of the vertical auger motor, and the electric drive response compensation amount to obtain the speed compensation sum; divide the release combination sum by the speed compensation sum to obtain the release ratio. Multiplying the transport resistance value by the release ratio yields the resistance-release synergy value; Subtract the current of the moving auger motor from the current of the horizontal auger motor to obtain the current difference; Add the current of the horizontal auger motor, the current of the moving auger motor, and the electric drive response compensation to obtain the current compensation sum; divide the current difference by the current compensation sum to obtain the current ratio. Multiply the linkage correction coefficient by the current ratio to obtain the linkage correction amount; Subtract the linkage correction amount from the retardation release synergy value to obtain the discharge linkage drive value.

7. The method for controlling and optimizing the bulk feed discharge process based on collaborative driving as described in claim 1, characterized in that, The specific steps of the combined collaborative relationship status output material discharge linkage control strategy are as follows: The adjustment object and direction are determined according to the state of the cooperative relationship: when the cooperative relationship is strong supply and weak support, the speed of the active auger motor is increased and the speed of the horizontal auger motor is decreased. When the cooperative relationship is in the accepting and limiting type, the speed of the vertical auger motor is adjusted by rhythm and the speed of the horizontal auger motor is adjusted by reduction. When the cooperative relationship is in the end-obstructed type, the opening degree of the discharge port is adjusted and the speed of the moving auger motor is increased. When the cooperative relationship is in an overall balanced state, the speed of the active auger motor, the speed of the vertical auger motor and the speed of the horizontal auger motor are synchronously adjusted. Based on the discharge linkage drive value, amplitude control is performed on the adjusted object in the adjustment direction, wherein the speed of the active auger motor is adjusted to increase, the speed of the vertical auger motor is adjusted to synchronize, and the speed of the horizontal auger motor is adjusted to decrease. Based on the discharge linkage drive value, the start interval and stop interval of one-click unloading are adjusted synchronously, and the start and stop intervals of the active auger motor, vertical auger motor and horizontal auger motor are adjusted in a consistent manner. Based on the discharge linkage drive value, the opening degree of the discharge port is adjusted, and the working time and interval time of the dust collector are adjusted synchronously. The discharge linkage drive value is written into the current control cycle register and used as the adjustment input for subsequent control cycles until the new conveying resistance transmission value is completed and updated.

8. A bulk feed discharge process control and optimization system based on collaborative driving, employing the bulk feed discharge process control and optimization method based on collaborative driving as described in any one of claims 1-7, characterized in that, include: The discharge source state acquisition module is used to collect discharge process data directly generated during the operation of bulk feed discharge, construct a basic dataset of the discharge process, and preprocess the basic dataset of the discharge process. The conveying obstruction identification module is used to identify the load change characteristics and speed response characteristics of the auger conveyor based on the basic dataset of the discharge process, and to determine the conveying obstruction stage. The inter-segment coordination assessment module is used to perform coordination analysis on the feeding and releasing relationships between screw conveyors during the conveying blockage stage, determine the inter-segment matching status and classify the coordination relationship status. The linkage drive control module is used to perform linkage evaluation on the operating status of multiple components during the material discharge process based on the conveying stagnation stage, and output the material discharge linkage control strategy in combination with the collaborative relationship status.

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