A method for controlling the feed rate of a biomass shredder

Abstract

The application relates to the technical field of industrial control of biomass crushing equipment, and discloses a biomass crusher feeding quantity control method, which comprises the following steps: collecting weighing, rack acceleration, conveying belt and material speed, main shaft power, rotor angular velocity and vibration data, determining the metering transportation state and the crushing side state; dynamically compensating the weighing signal to obtain material line quality and mass flow; establishing a space quality package according to material displacement, calculating the arrival mass flow and the in-transit material quality; combining the main shaft power, rotor kinetic energy change and the arrival mass flow to obtain the unit mass crushing energy consumption, generating the non-withdrawable load and the upper limit of multiple mass flows; using the signed difference between the allowed continuous main shaft mechanical power and the current main shaft side mechanical output power to correct the arrival mass flow, forming the power flow upper limit; selecting the minimum value of each mass flow upper limit to generate a target mass flow, converting the target mass flow into a target belt speed, and outputting a frequency command of a frequency converter or a safety control state.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology for biomass crushing equipment, specifically a method for controlling the feed rate of a biomass crusher. Background Technology

[0002] Existing biomass crushing equipment adjusts the feeding rate based on conveyor belt speed, weighing value, or spindle power. Common methods include feeding at a set belt speed, correcting the belt speed based on the weighing results, and reducing the feeding speed when the spindle power is close to the limit. These methods are suitable for working conditions with relatively slow load changes. However, during the conveying and crushing of loose biomass, vibration of the weighing section, relative slippage of materials, and transport delay from the weighing position to the inlet of the crushing chamber can cause temporal and spatial misalignment between the weighing results, the arrival flow rate, and the crushing load. When the equipment is controlled solely based on the instantaneous flow rate of the weighing section or the current spindle power, dynamic disturbances of the weighing frame may be identified as material loads. Low-speed sliding will also change the actual moving speed of the material, causing deviations in linear mass and mass flow rate. Material that has left the weighing section but has not yet reached the crushing chamber will continue to move forward. The existing method has difficulty distinguishing between currently arriving material, material in transit, and irreversible material that may still enter the crushing chamber after the machine is stopped. This can easily lead to a lag where the control command has been reduced but the crushing load continues to rise. Furthermore, the spindle power simultaneously includes no-load consumption, rotor kinetic energy change, and material crushing consumption. If different power components are not distinguished, it is difficult to obtain the crushing energy consumption corresponding to the material mass. When power, speed, vibration, and irreversible load are close to the boundary, a single power limit is difficult to coordinate the constraints of multiple devices. When the measurement channel fails, the transportation status is interrupted, or the frequency converter writes abnormally, historical transportation estimates and control outputs may continue to participate in the control, affecting the reliability of shutdown, evacuation, and restart status. Therefore, there is an urgent need for a biomass crusher feed rate control method that can correct dynamic weighing errors, characterize material transport delays, identify crushing energy consumption, assess irreversible loads, and coordinate constraints of multiple types of equipment, in order to solve the problems of inaccurate arrival flow identification, load response lag, insufficient constraint coordination, and unstable control under abnormal conditions in the existing technologies. Summary of the Invention

[0003] This invention provides a method for controlling the feed rate of a biomass crusher, which helps to solve the problems mentioned in the background art.

[0004] This invention provides the following technical solution: a method for controlling the feed rate of a biomass crusher, comprising: Collect weighing, frame acceleration, conveyor belt and material speed, main shaft power, rotor angular velocity and vibration data, and determine the metering and transportation status and crushing side status based on equipment parameters and diagnostic status; The compensated weighing signal is used to obtain the material line mass and mass flow rate, and the transportation side is reconstructed when the metering and transportation status is invalid. When the metering and transportation status is valid and the transportation side is not in the reconstruction state, a spatial mass package is established based on the material displacement and material line mass to obtain the arrival mass flow rate and the mass of the material in transit. The unit mass crushing energy consumption is obtained based on the spindle power, rotor kinetic energy change and the arrival mass flow rate. Irreversible load and multiple mass flow rate limits are generated by combining the material transportation status and equipment constraints. The arrival mass flow rate is corrected by the signed difference between the allowable continuous spindle mechanical power and the current spindle side mechanical output power to form the power flow rate limit. The target mass flow rate is obtained by taking the minimum value among the upper limits of each mass flow rate, converting it into the target belt speed, and outputting the frequency converter frequency command or safety control status.

[0005] Optionally, the collection of weighing, frame acceleration, conveyor belt and material speed, main shaft power, rotor angular velocity, and vibration data, and the determination of the metering and transportation status and crushing side status based on equipment parameters and diagnostic status, specifically includes: The weighing section to the crushing chamber inlet is set as the same continuous belt feeding conveyor section without intermediate material drop points, independent drive areas, secondary shaping mechanisms, and transfer mechanisms that change the longitudinal speed of materials. A lateral guiding structure that restricts the lateral displacement of materials and an anti-slip structure that inhibits the slippage of materials relative to the conveyor belt are set in the continuous belt feeding conveyor section. Under multiple conveying speed levels that cover at least the minimum effective speed, intermediate speed and rated speed, as well as multiple non-zero load levels, the material speed in the weighing zone and the crushing chamber inlet zone are collected respectively. Only when the difference between the two speed measurement results is within the joint resolution range of the two speed measurement devices, the material speed in the weighing zone is taken as the common translation speed of the continuous belt feeding conveyor section. The applicability of the continuous belt feeding conveyor section is determined by the fact that the continuous belt feeding conveyor section meets the structural conditions and the verification results of the common translation speed are valid. The deceleration calibration is performed according to the maximum allowable deceleration of the conveyor belt. The process of material speed decrease under each calibration state is collected, and the minimum value of the corresponding material actual deceleration is taken as the lower limit of the material effective deceleration. Collect samples of total support force of the weighing section, vertical acceleration of the weighing frame, actual speed of the conveyor belt, actual moving speed of the material, mechanical output power of the main shaft, rotor angular velocity, and vibration acceleration of the bearing seat according to the control cycle; The system reads the effective length of the weighing section, the transport distance from the weighing section to the inlet of the crushing chamber, the equivalent moment of inertia of the rotor, the allowable continuous main shaft mechanical power, the allowable main shaft mechanical torque, the speed boundary, the vibration boundary, the dynamic boundary of the conveyor belt, the rated maximum linear mass of the weighing section, the maximum mass flow rate of the feeding mechanism, the no-load weighing baseline, the static zero deviation of the weighing frame acceleration, the gravitational acceleration, the conversion ratio of belt speed to frequency converter frequency, the drive dead zone, the starting reference line mass, the minimum material movement ratio, the no-load main shaft mechanical power, the no-load reference vibration, the initial unit mass crushing energy consumption, the chamber response calibration data, and the resolution and sampling frequency of each measurement channel. The conveyor belt speed feedback status is determined based on the diagnostic results of the conveyor belt speed feedback channel, the data update time, and whether the actual speed of the conveyor belt is within the conveyor belt speed boundary. The pre-inspection status of metering and transportation is determined based on the diagnostic results of the measurement channels corresponding to the total support force of the weighing section, the vertical acceleration of the weighing frame, the actual speed of the conveyor belt, the actual moving speed of the material, the data update time and the range status, as well as whether the operating status data used to retrieve the empty weighing baseline is within the corresponding calibration coverage range. Based on the diagnostic results of the measurement channels corresponding to the main shaft mechanical output power, rotor angular velocity and bearing housing vibration acceleration, data update time, range status, vibration sample integrity, calibration coverage status of no-load main shaft mechanical power and no-load reference vibration, as well as the effective span of the resolution relative to the main shaft power between the continuous main shaft mechanical power and the no-load main shaft mechanical power, the effective span of the resolution relative to the rotor angular velocity of the speed boundary and the effective span of the vibration boundary relative to the vibration resolution, the crushing side status is determined. The status of the inverter command channel is determined based on the communication diagnostics and write fault status of the inverter command write channel. The status of the hardware security loop is determined based on the diagnostic results and trigger fault status of the hardware security loop and security trigger channel. The applicability of the continuous belt feeding conveyor section and the results of each state determination are used for subsequent data calculation and control output.

[0006] Optionally, the compensated weighing signal obtains the material line mass and mass flow rate, and determines the metering and transportation status, specifically including: The calibration weighing output and weighing frame acceleration are collected under multiple non-zero calibration line mass conditions. The static zero bias is deducted from the weighing frame acceleration, and the no-load weighing baseline and the gravity load corresponding to the calibration material are deducted from the calibration weighing output to obtain the weighing residual under each calibration condition. When the sum of the squared values ​​of the zero-bias corrected rack acceleration corresponding to the calibration sample set participating in the dynamic disturbance calibration is non-zero, the weighing residuals in the sample set are multiplied by the corresponding zero-bias corrected rack acceleration and accumulated. The resulting multiplied sum is divided by the sum of the squared values ​​of the zero-bias corrected rack acceleration to obtain the dynamic disturbance transmission coefficient. When the pre-inspection status of metering and transportation is valid, the static zero bias is subtracted from the vertical acceleration of the current weighing frame to obtain the current zero bias corrected frame acceleration. The dynamic disturbance transmission coefficient is multiplied by the current zero bias corrected frame acceleration to obtain the current dynamic disturbance component. The empty weighing baseline and the current dynamic disturbance component in the corresponding operating state are subtracted from the total support force of the real-time weighing section. Non-negative boundary processing is performed on the obtained compensation load. The compensation load after non-negative boundary processing is divided by the product of the gravitational acceleration and the effective length of the weighing section to obtain the mass of the material line. When the actual material movement speed is greater than the material speed resolution, the actual material movement speed is taken as the effective material speed. When the actual material movement speed is not greater than the material speed resolution, the effective material speed is set to zero. The mass flow rate is obtained by multiplying the material linear mass by the effective material speed. When the metering and transportation pre-inspection status is invalid, the current material line mass, effective material speed, and mass flow rate are set to zero. The absolute value of the dynamic disturbance transmission coefficient is multiplied by the frame acceleration resolution and added to the weighing resolution to obtain the composite load resolution. The composite load resolution is then divided by the product of the gravitational acceleration and the effective length of the weighing section to obtain the line mass resolution. Multiply the maximum speed of the conveyor belt by the linear mass resolution, multiply the rated maximum linear mass of the weighing section by the material velocity resolution, and add the two products to obtain the mass flow rate resolution. When the applicability of the continuous belt feeding conveyor section is established, the current metering and transportation pre-inspection status is valid, the current material line mass is not less than zero and not greater than the rated maximum line mass of the weighing section, and the current mass flow rate is not less than zero and not greater than the sum of the maximum mass flow rate of the feeding mechanism and the mass flow rate resolution, the metering and transportation status of the current control cycle is determined to be valid. If any condition is not met, the metering and transportation status of the current control cycle is determined to be invalid. The mass flow resolution is multiplied by the control cycle to obtain the single-cycle mass resolution.

[0007] Optionally, when the metering and transportation status is valid and the transportation side is not in a reconstruction state, establishing a spatial mass package based on material displacement and material line mass to obtain the arriving mass flow rate and the mass of materials in transit specifically includes: Multiply the effective material speed by the control cycle and add it to the cumulative transport displacement of the previous cycle to obtain the current cumulative transport displacement; When the current cumulative transport displacement is greater than the cumulative transport displacement of the previous cycle, the cumulative transport displacement of the previous cycle and the current cumulative transport displacement are used as spatial boundaries, and the current material line mass is combined with the spatial boundary to form a spatial mass package. The current spatial mass package is added to the spatial mass package queue in chronological order. If the current cumulative transport displacement is not greater than the cumulative transport displacement of the previous cycle, no new space mass packet is created and no new packet is written to the space mass packet queue. The overlap length between each spatial mass packet in the spatial mass packet queue and the inlet of the crushing chamber in the current cycle is extracted. The overlap length is multiplied by the corresponding linear mass and then summarized. The result is converted into the arrival mass flow rate according to the control cycle. Extract the overlap length between each spatial mass package in the spatial mass package queue and the transport section from the weighing section to the crushing chamber inlet, multiply the overlap length by the corresponding linear mass, and summarize it as the material mass in transit; When the metering and transportation status is invalid, stop updating the cumulative transportation displacement and writing the spatial mass package, set the arrival mass flow and the mass of materials in transit to zero, and set the transportation side to reconstruction status. When the transportation side is in a rebuilding state, keep the cumulative transportation displacement update and spatial mass packet writing stopped, and keep the arrival mass flow and in-transit material mass at zero. After completing shutdown, emptying confirmation, clearing of space quality package queue, resetting of cumulative transport displacement and in-transit material quality, and manual maintenance reset, the transport side status is reinitialized.

[0008] Optionally, obtaining the unit mass crushing energy consumption based on the spindle power, rotor kinetic energy change, and arrival mass flow rate specifically includes: Based on the state of the crushing side, determine whether the adjacent control cycle crosses the invalid state. In the first effective cycle of the crushing side recovery, use the current rotor angular velocity to reconstruct the stable rotor angular velocity, and determine this cycle as the first cycle of the crushing side recovery. During the first cycle of the recovery on the crushing side, the power of rotor kinetic energy change across the invalid state is not calculated, the current cycle effective crushing power sample for writing the energy consumption window and updating the unit mass crushing energy consumption is not formed, the arrival mass flow rate of this cycle is not paired with any current cycle power result and written into the energy consumption window, and the energy consumption window reconstruction state is maintained. Within the continuous effective control cycles after the first cycle of the crushing side recovery, the difference between the current rotor angular velocity and the stabilized rotor angular velocity of the previous cycle is compared. When the difference is within the speed resolution range, the stabilized rotor angular velocity of the previous cycle is maintained. When the difference exceeds the speed resolution range, the stabilized rotor angular velocity is updated using the current rotor angular velocity. The change in rotor kinetic energy power is calculated based on the difference in the square of the angular velocity of adjacent stabilized rotors, the equivalent moment of inertia of the rotor, and the control period. Subtract the no-load main shaft mechanical power and rotor kinetic energy change power at the corresponding speed from the mechanical output power of the main shaft side, and perform non-negative boundary processing on the obtained power to obtain the effective crushing power; When the crushing side is invalid or the transportation side is in reconstruction state, stop writing samples to the energy consumption window, clear the energy consumption window sample set and set the energy consumption window to reconstruction state. The moment when the calibration batch first arrives at the crushing chamber is taken as the starting point of the chamber response time, and the moment when the effective crushing power falls back to the range of the main shaft power resolution and continues for a complete rotor cycle is taken as the ending point of the chamber response time. The ratio of cavity response time to control cycle is rounded up and compared with the minimum window length that can form at least one set of adjacent samples. The larger of the two is taken as the energy consumption window length. Multiply the mass flow resolution by the control cycle to obtain the single-cycle mass resolution; The energy consumption window sample set is maintained in chronological order. Only the current effective crushing power and arrival mass flow rate of the current period that are both valid in the metering and transportation state and the crushing side state, the transportation side is not in the reconstruction state, and the current period is not the first period of the crushing side recovery are added to the set as paired energy consumption samples. When the number of samples exceeds the length of the energy consumption window, the earliest sample is deleted. Multiply the effective crushing power in each pair of energy consumption samples by the control cycle to obtain the effective crushing energy of the corresponding cycle, and multiply the arriving mass flow rate in each pair of energy consumption samples by the control cycle to obtain the arriving material mass of the corresponding cycle. When the number of samples reaches the length of the energy consumption window, the cumulative result of the mass of material arriving in each cycle within the window is not less than the product of the length of the energy consumption window and the mass resolution of a single cycle, and the difference between the maximum and minimum mass flow rates arriving within the window does not exceed the sum of the mass flow resolution and the maximum mass flow rate of the feeding mechanism divided by the length of the energy consumption window, the effective crushing energy and the mass of material arriving in each cycle within the window are accumulated respectively to obtain the cumulative effective crushing energy and the cumulative mass of material arriving. The cumulative effective crushing energy and the cumulative mass of material arriving are then compared to obtain the updated unit mass crushing energy consumption, and the energy consumption window reconstruction state is reset at the end of the current control cycle. When the energy consumption window is in the reconstruction state and has not yet formed an energy consumption window that meets the update conditions, the larger of the initial unit mass crushing energy consumption and the unit mass crushing energy consumption of the previous cycle shall be taken as the unit mass crushing energy consumption for reconstruction. When the energy consumption window is not in a rebuilding state and the current window does not meet the update conditions, maintain the unit mass crushing energy consumption of the previous cycle.

[0009] Optionally, the generation of irreversible loads by combining material transport status and equipment constraints specifically includes: The mass flow resolution is obtained by multiplying the control cycle by the mass flow resolution. When the metering and transportation status is valid and the transportation side is not in the reconstruction status, the transportation distance before the material stops entering the crushing chamber is generated based on the moving distance of the effective material speed in one control cycle and the braking distance calculated according to the effective deceleration of the material. The upper limit constraint is imposed on the transportation distance from the weighing section to the inlet of the crushing chamber to obtain the length of the irreversible zone. Extract the overlap length between the spatial mass package and the irreversible zone, multiply each overlap length by the corresponding line mass, and summarize them into the material mass of the irreversible zone; Add the current effective material speed to the single-cycle speed increment corresponding to the maximum allowable acceleration of the conveyor belt, and constrain it according to the maximum speed of the conveyor belt to obtain the upper limit of the material speed in the next cycle; When the mass of material in the irreversible zone and the mass of material in transit both exceed the mass resolution of a single cycle, the maximum linear mass in the spatial mass packet that overlaps with the irreversible zone is extracted as the peak linear mass. The peak linear mass is multiplied by the upper limit of the material velocity in the next cycle and constrained according to the maximum mass flow rate of the feeding mechanism to obtain the peak arrival mass flow rate. When the material quality in the irreversible zone or the material quality in transit does not exceed the single-cycle quality resolution, the peak line quality and peak arrival quality flow rate are set to zero. When the metering and transportation status is invalid or the transportation side is in the reconstruction state, the irreversible zone length, irreversible zone material mass, peak line mass, upper limit of material velocity in the next cycle, and peak arrival mass flow rate are set to zero. When the crushing side state is valid, the continuous spindle mechanical power will be allowed to be subtracted from the current no-load spindle mechanical power, and the result will be subjected to non-negative boundary processing to obtain the continuous net crushing capacity. Calculate the rotor kinetic energy difference between the stabilized rotor angular velocity and the minimum allowable rotor angular velocity, perform non-negative boundary processing on the rotor kinetic energy difference to obtain the rotor releaseable mechanical energy, and convert the rotor releaseable mechanical energy into releaseable power according to the control cycle; Multiply the allowable mechanical torque of the spindle by the stabilized rotor angular velocity, subtract the allowable continuous spindle mechanical power, and perform non-negative boundary processing on the resulting difference to obtain the torque boundary residual power; The smaller value between the releasable power and the torque boundary residual power is taken as the short-term additional buffering capacity of the rotor. When the crushing side condition is invalid, the continuous net crushing capacity, rotor releaseable mechanical energy, releaseable power, torque boundary residual power and rotor short-term additional buffer capacity are set to zero. When both the metering and transportation states are valid, and the transportation side is not in a reconstruction state, the peak arrival mass flow rate is multiplied by the unit mass crushing energy consumption to obtain the expected peak crushing power. Extract the non-negative power portion of the expected peak crushing power that exceeds the sum of the continuous net crushing capacity and the rotor's short-term additional buffering capacity. Divide the non-negative power portion by the sum of the expected peak crushing power and the main shaft power resolution to obtain the overload ratio. When the metering and transportation status or the crushing side status is invalid, or when the transportation side is in the reconstruction status, the load over-limit ratio is set to the full-width over-limit ratio.

[0010] Optionally, the method of generating multiple mass flow rate limits by combining irreversible loads and equipment constraints, and correcting the mass flow rate by the signed difference between the allowed continuous spindle mechanical power and the current spindle-side mechanical output power, forms a power flow rate limit, specifically including: The ratio of spindle power resolution to the maximum mass flow rate of the feeding mechanism is used to obtain the energy consumption resolution per unit mass. In the first effective cycle of recovery on the crushing side, the current rotor angular velocity is used to reconstruct the stable rotor angular velocity. During the continuous effective control cycle on the crushing side, the difference between the current rotor angular velocity and the stable rotor angular velocity of the previous cycle is compared. When the difference is within the speed resolution range, the stable rotor angular velocity of the previous cycle is maintained. When the difference exceeds the speed resolution range, the current rotor angular velocity is used to update the stable rotor angular velocity. When the crushing side is effective, the mean value of the bearing housing vibration acceleration sample within a control cycle is obtained. The difference between each vibration sample and the mean value is calculated, and the square root of the square of the obtained difference is averaged and taken to obtain the real-time vibration root mean square. The continuous spindle mechanical power will be deducted from the current no-load spindle mechanical power. The resulting difference will be processed by non-negative boundary treatment. The power difference after non-negative boundary treatment will be divided by the larger of the unit mass crushing energy consumption and the unit mass energy consumption resolution. The total load mass flow rate will be obtained by constraining the maximum mass flow rate of the feeding mechanism. Calculate the relative position ratio of the stabilized rotor angular velocity within the range from the minimum allowable rotor angular velocity to the rated rotor angular velocity, apply a proportional effective range constraint to the relative position ratio, and multiply the constrained ratio by the total load mass flow rate to obtain the upper limit of the rotational speed and flow rate; Calculate the remaining proportion of the real-time vibration root mean square relative to the unloaded reference vibration to the allowable vibration boundary interval, apply a proportional effective interval constraint to the remaining proportion, and multiply the constrained proportion by the total load mass flow rate to obtain the upper limit of vibration flow rate; When the crushing side condition is invalid, set the total load mass flow rate, the maximum speed flow rate, and the maximum vibration flow rate to zero; When both the metering and transportation states and the crushing side state are valid, and the transportation side is not in the reconstruction state, the continuous spindle mechanical power will be allowed to be deducted from the current spindle side mechanical output power. The positive and negative directions of the resulting power difference will be retained. The power difference will be divided by the larger of the unit mass crushing energy consumption and the unit mass energy consumption resolution to obtain the mass flow correction amount. The mass flow correction amount will be added to the current arriving mass flow to obtain the power constraint candidate mass flow. The power constraint candidate mass flow will be limited to the range of zero to the total carrying mass flow to obtain the power flow upper limit. Subtract the load over-limit ratio from the full-width over-limit ratio to obtain the remaining ratio corresponding to the load over-limit ratio. Apply a zero to unit ratio range constraint to the remaining ratio. Multiply the total load mass flow rate by the constrained remaining ratio to obtain the upper limit of the irreversible load flow rate. When the metering and transportation status or the breakage side status is invalid, or when the transportation side is in the reconstruction status, the mass flow correction, power flow limit, and irreversible load flow limit are set to zero.

[0011] Optionally, obtaining the target mass flow rate by taking the minimum value among the upper limits of each mass flow rate specifically includes: When both the metering and transportation states are valid, and the transportation side is not in the reconstruction state, the minimum value extraction process is performed on the total load mass flow rate, power flow rate limit, speed flow rate limit, vibration flow rate limit, and irreversible load flow rate limit to obtain the original target mass flow rate. When the metering and transportation status or the crushing side status is invalid, or when the transportation side is in the reconstruction status, the original target mass flow rate and the target mass flow rate are set to zero. When the original target mass flow rate is not less than the target mass flow rate of the previous period, and the difference between the two does not exceed the mass flow rate resolution, the target mass flow rate of the previous period shall be maintained. When the original target mass flow rate decreases, or when the increase in the target mass flow rate relative to the previous cycle exceeds the mass flow rate resolution, the original target mass flow rate is used as the current target mass flow rate.

[0012] Optionally, the step of obtaining the target mass flow rate by taking the minimum value among the upper limits of each mass flow rate, converting it into a target belt speed, and outputting the inverter frequency command or safety control status includes: When the metering and transportation status is valid and the transportation side is not in a reconstruction state, the larger of the current material line mass and the starting reference line mass is taken as the execution conversion reference line mass. When the metering and transportation status is invalid or the transportation side is in a reconstruction state, the starting reference line mass is taken as the execution conversion reference line mass. When both the conveyor belt speed feedback and the metering and transportation status are effective, and the transportation side is not in the reconstruction state, the effective material speed is divided by the larger of the actual conveyor belt speed and the conveyor belt speed resolution. The resulting ratio is constrained according to the ratio boundary defined by the minimum material movement ratio to the unit movement ratio to obtain the material movement ratio relative to the conveyor belt. If any of the aforementioned state conditions are not met, the minimum material movement ratio is taken as the material movement ratio relative to the conveyor belt. When the metering and transportation status is valid and the transportation side is not in the reconstruction state, the target mass flow rate is divided by the product of the mass of the conversion reference line and the material relative to the conveyor belt movement ratio, and constrained according to the conveyor belt speed boundary to obtain the target belt speed without dynamic boundary treatment. When the metering and transportation status is invalid or the transportation side is in the reconstruction state, the target belt speed without dynamic boundary treatment is set to zero. When the conveyor belt speed feedback is effective, the target belt speed without dynamic boundary processing is compared with the actual conveyor belt speed. Based on the comparison result, the maximum allowable acceleration or maximum allowable deceleration is selected. The speed command change is limited according to the control cycle. The speed holding zone is determined by the conveyor belt speed resolution and the drive dead zone. The conveyor belt speed command is generated. When the conveyor belt speed feedback is ineffective, the conveyor belt speed command is set to zero. The alarm lock status is updated based on the hardware safety loop status. When the hardware safety loop cannot be triggered, the alarm lock status is output and frequency writing is prohibited. When the alarm lock status has been triggered, the alarm lock status is maintained, frequency writing is not performed, and the internal record of the frequency command of the previous cycle is maintained. When the hardware safety circuit is triggerable and the alarm lockout state is not triggered, if the inverter command channel is valid and the conveyor belt speed feedback is valid, the conveyor belt speed command is converted into an inverter frequency command according to the conversion ratio between belt speed and inverter frequency and then written. If the inverter command channel is valid and the conveyor belt speed feedback is invalid, a zero frequency command is written. When the hardware safety circuit is triggerable, the alarm lockout state is not triggered, and the inverter command channel is invalid, frequency writing is not performed, the internal record of the frequency command of the previous cycle is maintained, and the hardware safety shutdown trigger state is output. The alarm lock state remains until the hardware safety circuit fault is eliminated, the transport section and crushing chamber are emptied and confirmed, and the system is manually maintained and reset, at which point the initial state settings are re-executed.

[0013] The present invention has the following beneficial effects: 1. By calling the static zero bias, no-load weighing baseline, and dynamic disturbance transmission coefficient, the frame motion disturbance and equipment no-load load in the total support force of the real-time weighing section are separated. The compensated non-load load is then converted into material linear mass, and combined with the actual material movement speed after speed resolution processing, the weighing section mass flow rate is formed. This transforms the instantaneous support force affected by vibration into control data that can characterize the material distribution and actual conveying volume per unit conveying length. At the same time, based on the measurement resolution capability of weighing force and frame acceleration, linear mass resolution, mass flow rate resolution, and single-cycle mass resolution are formed. Based on these, the metering and transportation status is determined in conjunction with equipment applicability, pre-inspection status, and range boundary. This can prevent speed disturbances or abnormal loads smaller than the recognizable scale from entering subsequent spatial transportation calculations. The retained untruncated weighing compensation residuals can also provide independent criteria for physical emptying confirmation. 2. By accumulating the effective material velocity into transport displacement according to the control cycle, and constructing a temporal spatial mass package with adjacent cumulative displacement boundaries and corresponding material line mass, the material distribution obtained by the weighing section can migrate to the crushing chamber inlet along the continuous conveying path. Utilizing the overlap relationship between each spatial mass package and the inlet swept interval and the current transport interval, the arrival material mass, arrival mass flow rate, and in-transit material mass of the current cycle are formed respectively. This transforms the real-time measurement of the weighing position into a load input corresponding to the arrival time of the crushing chamber, reducing the spatiotemporal mismatch caused by fixed transport delays or only belt speed translation. When the metering transport state fails, the transport side reconstruction state is latched, the old queue is frozen and its participation in control is stopped. It is only re-initialized after shutdown, effective emptying confirmation, queue clearing, and manual reset, which can prevent expired spatial mass packages from continuing to generate false arrival flow rates and in-transit loads after the state is restored. 3. By setting a reconstruction rule for the first effective cycle in the state recovery process of the crushing side, the calculation of kinetic energy change power using rotor speed difference across invalid intervals is avoided, and the first recovery cycle is excluded from the energy consumption window sample. This prevents discontinuous states before and after the interruption from being mistaken for rotor acceleration or deceleration energy. Within the continuous effective cycle, the rotor speed is stabilized by resolution. The no-load main shaft mechanical power and rotor kinetic energy change power are subtracted from the main shaft side mechanical output power to obtain the effective crushing power corresponding to the material crushing action. The effective crushing power of the same cycle and the arriving mass flow rate are then written into the energy consumption window in pairs to maintain the time correspondence between energy and material mass. The unit mass crushing energy consumption is updated by combining the cumulative material mass and flow rate fluctuation admission conditions in the window, and a conservative energy consumption value is adopted during the window reconstruction period. This provides a stable material crushing demand scale for subsequent load forecasting and mass flow rate upper limit conversion. 4. By combining the current cycle material movement distance with the braking distance based on the effective deceleration of the material, and limiting the length of the irreversible zone by the transport distance, the near-end material range that will continue to enter the crushing chamber after the control command is lowered can be identified. The material mass in the irreversible zone is obtained by utilizing the overlap relationship between the spatial mass package and this zone. When both the material mass in the irreversible zone and the material mass in transit exceed the discernible mass scale, the peak line mass is extracted. Combined with the upper limit of the material velocity in the next cycle, the peak arrival mass flow rate is formed, which can avoid the peak load judgment being triggered by extremely small residual materials or indistinguishable fluctuations. Furthermore, the expected crushing power of the peak arrival mass flow rate is compared with the continuous net crushing capacity and the short-term additional buffer capacity limited by the rotor's releaseable mechanical energy and torque boundary to form the load over-limit ratio, so that subsequent control can reflect the degree of irreversible load on crushing capacity before the material arrives. 5. By performing root mean square processing on the complete vibration samples and using the larger of the current unit mass crushing energy consumption and the unit mass energy consumption resolution as the energy consumption conversion scale, the vibration DC bias and the amplified mass flow rate estimation due to the excessively small energy consumption denominator can be avoided. The total load mass flow rate is formed by subtracting the no-load spindle mechanical power from the allowable continuous spindle mechanical power. Then, based on the speed margin, vibration margin, and the proportion of irreversible load remaining, the upper limit of speed flow rate, vibration flow rate, and irreversible load flow rate are generated, so that different physical boundaries are uniformly converted into comparable mass flow rate scales. At the same time, the positive and negative directions of the allowable continuous spindle mechanical power and the current spindle side mechanical output power are retained, and they are converted into mass flow rate corrections and superimposed on the current reached mass flow rate. This allows for the increase of subsequent feeding when there is power surplus and the reduction of the future feeding upper limit when the power exceeds the limit, forming a double constraint that takes into account both power and irreversible load. 6. By extracting minimum values ​​for the total load mass flow rate, power flow rate limit, speed flow rate limit, vibration flow rate limit, and irreversible load flow rate limit when both the metering and transportation states are effective and the transportation side is not in a reconstruction state, the target feed rate is subject to the tightest constraints. This avoids ignoring speed drops, vibration approaching the boundary, or irreversible loads in transit when increasing feed rate solely based on power surplus. Maintaining the target value of the previous cycle when the increase in the original target mass flow rate does not exceed the mass flow rate resolution can suppress frequent incremental adjustments caused by small changes within the measurement resolution range. When the target flow rate decreases or increases beyond the recognizable scale, a new value is adopted, enabling the control to respond to risks more tightly without causing actuator reciprocating motion due to unrecognizable fluctuations. Setting the target flow rate to zero when any critical state fails or the transportation side is reconstructed can prevent invalid upper limits from being transmitted to the belt speed conversion stage. 7. By selecting the larger of the current material line mass and the starting reference line mass as the conversion basis, and using the effective material speed relative to the actual conveyor belt speed to form a material movement ratio constrained by the minimum movement ratio, the target mass flow rate can be avoided from being converted to an excessively high belt speed during low load, startup, or relative slippage. The target belt speed is limited within the equipment speed boundary, and a corresponding dynamic boundary is adopted according to the acceleration or deceleration direction. Then, a speed holding zone is formed by the conveyor belt speed resolution and drive dead zone, which can reduce invalid writes caused by small changes and ensure timely execution at the allowed deceleration speed when reducing the quantity. Combining the command channel, speed feedback, safety loop, and alarm lockout status to distinguish between normal writes, zero-frequency writes, historical record retention, and hardware safety shutdown can prevent internal records from being mistaken for actual execution results when communication failures or feedback failures occur, and maintain the abnormal state until emptying and manual reset before restarting. 8. This solution addresses feeding scenarios where biomass materials are loose, exhibit significant slippage, and are coupled with conveying lag and crushing load fluctuations. It establishes a control basis that progressively transmits from material transport status to execution frequency output through dynamic compensation weighing, spatial mass package tracking, unit mass crushing energy consumption identification, irreversible load assessment, and multi-constraint flow limiting. In this technical solution, weighing frame disturbances and the no-load baseline are first separated, so that the material linear mass and mass flow rate are no longer directly affected by equipment vibration. Then, the actual material displacement is used to spatially migrate the weighing results, converting the weighing position data into the arrival mass flow rate at the crushing chamber inlet and the material mass en route, thereby eliminating the spatiotemporal misalignment caused by relying solely on instantaneous weighing or belt speed. Based on this, the no-load consumption in the spindle mechanical output and Rotor kinetic energy changes are separated, allowing the unit mass crushing energy consumption to reflect the corresponding crushing requirements of the material, and jointly constraining the future load with the mass of material that will still enter the crushing chamber in the irreversible zone; power, speed, vibration, and irreversible load each form a comparable upper limit for mass flow rate, and the signed power difference can implement bidirectional correction for the arriving mass flow rate when the spindle power is insufficient or exceeds the limit. After each constraint is minimized, it is avoided that a single power index masks speed decay, vibration approach, or load accumulation in transit; in conjunction with transport side reconstruction, energy consumption window reconstruction, frequency write verification, and hardware safety status branch, it can prevent failed measurements, expired space packages, or abnormal execution records from continuing to participate in control, thereby improving the consistency and reliability of feeding status identification, load prediction, belt speed adjustment, and abnormal shutdown output. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the mechanical structure layout of the continuous belt feeding and crushing equipment of the present invention.

[0015] Figure 2 This is a schematic diagram showing the distribution of the spatial mass pack and irreversible zone of the conveyor belt according to the present invention.

[0016] Figure 3This is a block diagram of the overall control logic of the feeding amount control method of the present invention.

[0017] Figure 4 This is a flowchart of the dynamic compensation of weighing signals and line quality extraction of the present invention.

[0018] Figure 5 This is a schematic diagram of the time-series sample characteristics of the energy consumption window of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Examples, such as Figure 3 As shown, a method for controlling the feed rate of a biomass crusher further includes the following steps: Step 1: Refer to Figure 1 A continuous belt feeding conveyor section is set up between the weighing section and the crushing chamber inlet. The continuous belt feeding conveyor section does not have an intermediate material drop point, an independent drive zone, a secondary shaping mechanism, or a transfer mechanism to change the longitudinal speed of the material. Lateral guide structures that restrict the lateral displacement of the material are set on both sides of the conveyor belt, and anti-slip structures that inhibit the relative slippage of the material are set on the bearing surface of the conveyor belt. Before the equipment is put into operation, at the minimum effective speed of the conveyor belt, half of the rated speed, and the rated speed, and at two non-zero load states of half of the rated maximum linear mass of the weighing section and the rated maximum linear mass of the weighing section, a speed measuring device of the same type as the material speed measuring device in the weighing area is temporarily set at the inlet of the crushing chamber to synchronously collect the material speed in the weighing area and the material speed in the inlet area of ​​the crushing chamber. For each calibration state, the difference between the two material velocities is calculated and the absolute value is taken. The absolute value of the obtained velocity difference is compared with the sum of the velocity resolution of the two velocity measuring devices. Only when the absolute value of the velocity difference under all calibration states does not exceed the sum of the velocity resolution is the material velocity measured in the weighing zone taken as the common translation velocity between the weighing section and the inlet of the crushing chamber. The actual moving speed of the material during operation is directly output by the non-contact speed measuring device set in the weighing area. The non-contact speed measuring device outputs the average speed of the material area and the validity status of the data within its detection area, without performing any non-predefined outlier removal processing on the average speed of the area. Under two non-zero load conditions—half of the rated maximum linear mass of the weighing section and the rated maximum linear mass of the weighing section—the conveyor belt is controlled to perform deceleration calibration according to the maximum allowable deceleration. The material speed decrease process is collected sequentially, and the material speed decrease is obtained by subtracting the next material speed from the previous material speed in adjacent material speed samples. The material speed decrease is divided by the sampling time interval between the two speed samples to obtain the actual material deceleration in the corresponding calibration interval. The minimum value of the positive material actual deceleration obtained from each calibration state is extracted as the lower limit of the effective material deceleration, and the lower limit of the effective material deceleration is limited to not being greater than the maximum allowable deceleration of the conveyor belt. The industrial controller collects the total support force of the weighing section, the vertical acceleration of the weighing frame, the actual speed of the conveyor belt, the actual moving speed of the material, the mechanical output power converted to the main shaft of the crusher, the rotor angular velocity, and the bearing seat vibration acceleration sample within one control cycle according to the control cycle. At the same time, it reads the diagnostic results, data update time and range status of the weighing measurement channel, the frame acceleration measurement channel, the material speed measurement channel, the main shaft power measurement channel, the rotor speed measurement channel and the vibration measurement channel, reads the diagnostic results, data update time and speed range status of the conveyor belt speed feedback channel, reads the communication diagnosis and write fault status of the frequency converter command write channel, and reads the diagnostic results and trigger fault status of the hardware safety circuit and the safety trigger channel. The system reads the control cycle, effective length of the weighing section, transport distance from the center of the weighing section to the inlet of the crushing chamber, equivalent moment of inertia of the rotor, rated angular velocity of the rotor, minimum allowable angular velocity of the rotor, allowable continuous main shaft mechanical power, allowable main shaft mechanical torque, allowable root mean square value of bearing housing vibration, maximum speed of the conveyor belt, maximum allowable acceleration of the conveyor belt, maximum allowable deceleration of the conveyor belt, lower limit of effective deceleration of the material, maximum mass flow rate of the feeding mechanism, rated maximum linear mass of the weighing section, conversion ratio of belt speed to frequency converter, weighing force resolution, weighing frame acceleration resolution, conveyor belt speed resolution, material speed resolution, main shaft power resolution, rotational speed resolution, bearing housing vibration resolution, weighing sampling frequency and vibration sampling frequency, and calls gravity acceleration as the standard physical constant used for mass and gravity load conversion; The following parameters must be met: control cycle, effective length of weighing section, transport distance, equivalent moment of inertia of rotor, allowable continuous spindle mechanical power, allowable spindle mechanical torque, allowable root mean square value of bearing housing vibration, maximum speed of conveyor belt, maximum allowable acceleration of conveyor belt, maximum allowable deceleration of conveyor belt, lower limit of effective deceleration of material, maximum mass flow rate of feeding mechanism, rated maximum linear mass of weighing section, conversion ratio of belt speed to frequency converter, resolution of each measurement and sampling frequency should all be positive, rated angular velocity of rotor should be greater than minimum allowable angular velocity of rotor, minimum allowable angular velocity of rotor should not be less than zero, and lower limit of effective deceleration of material should be greater than zero and not greater than maximum allowable deceleration of conveyor belt. If any of the above parameters are not met, the industrial controller will not enter the automatic feeding state. The same spindle-side mechanical output power, no-load spindle mechanical power, and allowable continuous spindle mechanical power are measured using the same spindle-side mechanical power measurement boundary. When the drive device directly provides electrical power, the drive efficiency correspondence formed by one-time calibration is called to convert the electrical power into spindle-side mechanical power before participating in subsequent calculations. The vertical acceleration of the weighing frame was collected when the equipment was stationary, the conveyor belt was unloaded, and the crusher was stopped. This was taken as the zero-bias acceleration of the weighing frame at rest. Record the no-load weighing baseline on the calibration grid formed by the conveyor belt speed and the rotor speed. During operation, based on the adjacent calibration grid nodes where the current conveyor belt speed and the current rotor speed are located, first perform proportional interpolation along one speed direction, and then perform proportional interpolation on the aforementioned interpolation result along the other speed direction to obtain the no-load weighing baseline corresponding to the current operating state. The no-load spindle mechanical power and no-load reference vibration are recorded at multiple non-zero stable rotor speed points. During operation, the two adjacent calibration speed points where the current rotor speed is located are determined. Based on the position ratio of the current rotor speed between the two adjacent calibration speed points, the no-load spindle mechanical power of the two calibration points is linearly interpolated to obtain the current no-load spindle mechanical power. The no-load reference vibration of the two calibration points is linearly interpolated in the same way to obtain the current no-load reference vibration. Extract all non-zero stable rotor speed points involved in no-load weighing baseline calibration, no-load spindle mechanical power calibration, and no-load reference vibration calibration. Select the minimum value from the non-zero stable rotor speed points as the minimum calibration speed. The minimum calibration speed is used to determine the dynamic disturbance calibration sample coverage time, the initial unit mass crushing energy consumption calibration end condition, and the duration of the evacuation confirmation of the transport section and crushing chamber. Two non-zero known distributed calibration masses are arranged in the weighing section, one being half of the rated maximum linear mass of the weighing section and the other being the rated maximum linear mass of the weighing section. The calibration sampling time corresponding to each calibration mass covers at least one complete rotor cycle corresponding to the lowest calibration speed. For each calibration state, the total support force of the weighing section, the vertical acceleration of the weighing frame, and the no-load weighing baseline under the corresponding operating state are collected. The number of calibration samples is obtained by rounding up the product of the weighing sampling frequency and the complete rotor cycle corresponding to the lowest calibration speed. The difference between the maximum zero-bias corrected frame acceleration and the minimum zero-bias corrected frame acceleration in the calibration samples is not less than twice the frame acceleration resolution. If this acceleration span condition is not met, the current calibration data is not used to form the dynamic disturbance transmission coefficient. Subtract the zero-biased acceleration of the weighing frame from the vertical acceleration of the weighing frame for each calibration sample to obtain the zero-biased corrected frame acceleration for the corresponding calibration sample. Multiply the non-zero calibration line mass under the corresponding calibration state by the gravitational acceleration and the effective length of the weighing section in sequence to obtain the theoretical gravity load corresponding to the calibration material. Subtract the no-load weighing baseline under the corresponding operating state and the theoretical gravity load in sequence from the total support force of the calibration weighing section to obtain the weighing residual of the corresponding calibration sample. Multiply the zero-bias corrected frame acceleration of each calibration sample by the corresponding weighing residual, and then sum the products of all calibration samples to obtain the cumulative value of residual acceleration. Square the zero-bias corrected frame acceleration of each calibration sample, and then sum all the squared results to obtain the cumulative value of acceleration squared. When the cumulative squared value of acceleration is greater than zero, the residual acceleration is multiplied by the cumulative value and divided by the cumulative squared value of acceleration to obtain the dynamic disturbance transmission coefficient. The dynamic disturbance transmission coefficient is then stored as calibration data for subsequent startup parameter calibration and operational weighing compensation. When the cumulative squared acceleration value is not greater than zero, the current dynamic disturbance calibration is deemed invalid, the current calibration data is not used, and the industrial controller is prohibited from entering the automatic feeding state. When the transport section and crushing chamber are emptied, the mass of the calibration batch of material is weighed using a calibrated independent weighing device. The calibration batch of material is fed into the crusher at a low load and stable speed. From the moment the calibration batch of material first arrives at the crushing chamber, the mechanical output power of the main shaft, the no-load main shaft mechanical power, and the rotor speed are continuously collected. The first effective rotor speed obtained after the first arrival of the calibration batch of material in the crushing chamber is used as the initial value of the calibrated and stabilized rotor speed. The rotor kinetic energy change power of the first effective calibration cycle is set to zero. The no-load main shaft mechanical power at the corresponding speed is subtracted from the main shaft side mechanical output power of the first effective calibration cycle. The power difference is processed to obtain the effective crushing power of the first effective calibration cycle. Starting from the second effective calibration cycle, the rotor speed during the calibration period is subjected to resolution stabilization processing. When the absolute value of the difference between the current rotor speed and the stabilized rotor speed of the previous calibration cycle is not greater than the speed resolution, the stabilized rotor speed of the previous calibration cycle is maintained. When the absolute value of the difference is greater than the speed resolution, the stabilized rotor speed is updated using the current rotor speed. The stabilized rotor speeds of the current calibration cycle and the previous calibration cycle are squared respectively. The squared rotor speed of the current cycle is subtracted from the squared rotor speed of the previous cycle. The difference is multiplied by the rotor's equivalent moment of inertia and then divided by the time scale corresponding to the two control cycles to obtain the rotor kinetic energy change power of the current calibration cycle. Subtract the no-load main shaft mechanical power at the corresponding speed and the rotor kinetic energy change power of the current calibration cycle from the main shaft side mechanical output power in sequence, and perform non-negative processing on the obtained power difference to obtain the effective crushing power of the current calibration cycle. Until the effective crushing power of the calibration cycle falls back to the range of the main shaft power resolution, and continues for a complete rotor cycle corresponding to the lowest calibration speed, the time from the first arrival of the calibration batch material in the crushing chamber to the end of this continuous state is taken as the chamber response time. The effective crushing power of each calibration cycle, including the first effective calibration cycle, within the time period is multiplied by the control cycle, and the results are accumulated to obtain the cumulative effective crushing energy of the calibration batch. The cumulative effective crushing energy is divided by the mass of the calibration batch material to obtain the initial unit mass crushing energy consumption. Divide the cavity response time by the control cycle and round up. Compare the resulting sample size with the sample size of the two control cycles, and take the larger of the two as the energy consumption window length. The frequency command of the inverter is changed step by step, the actual speed of the conveyor belt is collected, and the minimum speed change that the conveyor belt speed encoder first detects that exceeds the speed resolution of the conveyor belt and can be sustained for one control cycle is taken as the drive dead zone. After completing the calibration of the dynamic disturbance transfer coefficient, the startup parameters are calibrated. The vertical acceleration of the weighing frame collected during the start-up parameter calibration period is subtracted from the static zero bias of the weighing frame acceleration to obtain the frame acceleration after zero bias correction for start-up calibration. The dynamic disturbance transmission coefficient is multiplied by the frame acceleration after zero bias correction for start-up calibration to obtain the dynamic disturbance component for start-up calibration. The unloaded weighing baseline and the dynamic disturbance component for startup calibration are sequentially subtracted from the total support force of the weighing section collected during the startup parameter calibration period to obtain the untruncated weighing compensation residual for startup calibration. The untruncated weighing compensation residual for startup calibration is processed to obtain the non-negative compensation load for startup calibration. The non-negative compensation load for startup calibration is divided by the product of gravitational acceleration and the effective length of the weighing section to obtain the mass of the material line for startup calibration. Take the absolute value of the dynamic disturbance transmission coefficient, multiply the obtained absolute value by the frame acceleration resolution to obtain the dynamic disturbance load resolution component for startup calibration, add the dynamic disturbance load resolution component to the weighing resolution to obtain the composite load resolution for startup calibration, and divide the composite load resolution by the product of gravitational acceleration and the effective length of the weighing section to obtain the line mass resolution for startup calibration. When the actual material movement speed collected during the start-up parameter calibration period is greater than the material speed resolution, the actual material movement speed is used as the effective material speed for start-up calibration; when the actual material movement speed is not greater than the material speed resolution, the effective material speed for start-up calibration is set to zero. At the minimum effective conveying speed, when the change in the actual speed of the conveyor belt within a control cycle does not exceed the speed resolution of the conveyor belt, and the mass of the material line for starting calibration is not less than the mass resolution of the line for starting calibration, the current operating state is determined as the minimum stable conveying state, and the mass of the material line for starting calibration in this state is used as the mass of the starting reference line. The material movement ratio calibration value is obtained by dividing the effective material speed under the minimum stable conveying state by the larger of the actual conveyor belt speed and the conveyor belt speed resolution. When the material movement ratio calibration value is not greater than zero, the current actuator calibration is determined to be invalid and automatic feeding control is prohibited. When the material movement ratio calibration value is greater than the unit ratio, the unit ratio is used as the minimum material movement ratio. When the material movement ratio calibration value is greater than zero and not greater than the unit ratio, the material movement ratio calibration value is used as the minimum material movement ratio. Real-time vibration, no-load reference vibration, and permissible vibration are all measured using the same bearing housing position, the same sensor direction, the same sampling frequency, the same frequency band, the same control cycle window, and the same root mean square statistical method. The number of specified vibration samples within one control cycle is obtained by rounding down the product of the vibration sampling frequency and the control cycle. The number of specified vibration samples is not less than two. When the conveyor belt speed feedback channel diagnosis is normal, the data update time does not exceed one control cycle, and the actual speed of the conveyor belt is within the range of zero to the maximum speed of the conveyor belt, the conveyor belt speed feedback status is determined to be valid. When the inverter command write channel communication diagnosis is normal and no write fault is reported, the inverter command channel status is determined to be valid; When the hardware safety loop diagnosis is normal and the safety trigger channel does not report a triggering fault, the hardware safety loop status is determined to be triggerable; If the weighing measurement channel, frame acceleration measurement channel, and material speed measurement channel are diagnosed as normal, the corresponding data update time does not exceed one control cycle, the data output of the material speed measurement channel is valid, the actual material movement speed is within the range of zero to the maximum speed of the conveyor belt, the conveyor belt speed feedback status is valid, the current conveyor belt speed is within the coverage range of the no-load weighing baseline calibration grid, the rotor speed measurement channel is diagnosed as normal, the rotor speed data update time does not exceed one control cycle, and the current rotor speed is within the coverage range of the no-load weighing baseline calibration grid, then the metering and transportation pre-inspection status will be determined as valid. If the spindle power measurement channel, rotor speed measurement channel, and vibration measurement channel are diagnosed as normal, the corresponding data update time does not exceed one control cycle, the mechanical output power of the spindle side is within the power measurement range, the rotor angular velocity is within the speed measurement range, the number of effective vibration samples obtained within one control cycle is equal to the specified number of vibration samples, the current rotor speed is within the common calibration coverage range of the no-load spindle mechanical power and the no-load reference vibration, the difference between the continuous spindle mechanical power and the current no-load spindle mechanical power is not less than the spindle power resolution, the difference between the rotor rated angular velocity and the rotor minimum allowable angular velocity is not less than the speed resolution, and the difference between the allowable root mean square value of vibration and the current no-load reference vibration is not less than the bearing housing vibration resolution, then the crushing side state is determined to be valid. Before starting the equipment, confirm that the transport section and crushing chamber are emptied. Set the cumulative transport displacement, weighing section mass flow rate, arrival mass flow rate, material mass in transit, original target mass flow rate, target mass flow rate, target belt speed without dynamic boundary processing, conveyor belt speed command, frequency command internal record and hardware safety shutdown trigger status to zero. Set the alarm lock status to not triggered, set the effective frequency writing status to invalid, set the transport side reconstruction status to not enabled, set the energy consumption window reconstruction status to not enabled, set the spatial mass package queue and energy consumption window sample set to empty, set the stabilized rotor speed to the first effective rotor speed measurement value, and set the unit mass crushing energy consumption to the initial unit mass crushing energy consumption. Input the measurement data, configuration parameters, calibration results and status judgment results formed in step one into steps two to eight. Step Two: As Figure 4 As shown, the weighing frame acceleration static zero bias calibrated and stored in step one when the equipment is stationary, the conveyor belt is unloaded and the crusher is stopped is called, and the dynamic disturbance transmission coefficient formed and stored in step one based on the calibration samples of the two non-zero calibration line mass states is called. When the current metering and transportation pre-inspection status is valid, the current zero-biased acceleration of the weighing frame is subtracted from the current zero-biased acceleration of the weighing frame to obtain the current zero-biased frame acceleration. The dynamic disturbance transmission coefficient is multiplied by the current zero-biased frame acceleration to obtain the current dynamic disturbance component. Subtract the unloaded weighing baseline and the current dynamic disturbance component corresponding to the current operating state from the total support force of the current weighing section in sequence to obtain the current untruncated weighing compensation residual. The current untruncated weighing compensation residual is retained for use in step three when confirming physical emptying. The current uncut weighing compensation residual is processed to be non-negative. When the residual is less than zero, it is taken as zero. When the residual is not less than zero, the original value is maintained to obtain the non-negative compensation load. The non-negative compensation load is divided by the product of the gravitational acceleration and the effective length of the weighing section to obtain the current material line mass. When the actual material moving speed is greater than the material speed resolution, the actual material moving speed is taken as the effective material speed. When the actual material moving speed is not greater than the material speed resolution, the effective material speed is set to zero. The current material line mass is multiplied by the effective material speed to obtain the mass flow rate of the weighing section. When the pre-inspection status of metering and transportation is invalid, no valid uncut weighing compensation residual that can be used for physical emptying confirmation is generated. The current material line mass, effective material speed and weighing section mass flow rate are set to zero, and the current period data is prohibited from entering the spatial mass package calculation. Take the absolute value of the dynamic disturbance transmission coefficient, multiply the obtained absolute value by the frame acceleration resolution to obtain the load resolution component corresponding to the dynamic disturbance, add the load resolution component to the weighing resolution to obtain the composite load resolution, and divide the composite load resolution by the product of the gravitational acceleration and the effective length of the weighing section to obtain the line mass resolution. Multiply the maximum speed of the conveyor belt by the linear mass resolution to obtain the flow resolution component corresponding to the linear mass uncertainty. Multiply the rated maximum linear mass of the weighing section by the material speed resolution to obtain the flow resolution component corresponding to the speed uncertainty. Add the two flow resolution components to obtain the mass flow resolution. Multiply the mass flow resolution by the control cycle to obtain the single-cycle mass resolution. When the applicability of the continuous belt feeding conveyor section is established, the metering and transportation pre-inspection status is valid, the current material line mass is not less than zero and not greater than the rated maximum line mass of the weighing section, and the current mass flow rate of the weighing section is not less than zero and not greater than the sum of the maximum mass flow rate of the feeding mechanism and the mass flow rate resolution, the metering and transportation status is determined to be valid. If any of the above conditions are not met, the metering and transportation status is determined to be invalid. Step 2 outputs the dynamic disturbance transmission coefficient, current material line mass, effective material speed, weighing section mass flow rate, line mass resolution, mass flow rate resolution, single-cycle mass resolution, and metering and transportation status. When the metering and transportation pre-inspection status is valid, it outputs the current untruncated weighing compensation residual, which is called by the physical emptying confirmation process in Step 3. The current material line mass is input into Step 3 and Step 8, the effective material speed is input into Step 3, Step 5 and Step 8, the mass flow rate resolution and single-cycle mass resolution are input into Step 4 to Step 7, and the metering and transportation status is input into Step 3 to Step 8. By invoking static zero bias, no-load weighing baseline, and dynamic disturbance transmission coefficient, the frame motion disturbance and equipment no-load load in the total support force of the real-time weighing section are separated. The compensated non-load load is then converted into material linear mass, and combined with the actual material movement speed after speed resolution processing, the weighing section mass flow rate is formed. This transforms the instantaneous support force affected by vibration into control data that can characterize the material distribution and actual conveying volume per unit conveying length. Simultaneously, based on the measurement resolution capability of weighing force and frame acceleration, linear mass resolution, mass flow rate resolution, and single-cycle mass resolution are formed. Based on these, combined with equipment applicability, pre-inspection status, and range boundaries, the metering and transportation status is determined. This can prevent speed disturbances or abnormal loads smaller than the recognizable scale from entering subsequent spatial transportation calculations. The retained untruncated weighing compensation residuals can also provide independent criteria for physical emptying confirmation. Step 3: Refer to Figure 2 The minimum capacity of the spatial quality packet queue is configured based on the transportation distance, material speed resolution, and control cycle. First, the material speed resolution is multiplied by the control cycle to obtain the minimum material movement distance that can be resolved within one control cycle. The transportation distance is divided by the minimum material movement distance, and the result is rounded up. Then, two storage locations are added for current cycle writing and interval boundary processing to obtain the minimum capacity of the spatial quality packet queue. The actual configured capacity of the spatial quality packet queue is not less than the minimum capacity. Each control cycle first calls the metering and transportation status formed in step two. When the metering and transportation status is invalid, the transportation side reconstruction status is set to valid before performing ordinary transportation calculation. When the transportation-side reconstruction status is valid, regardless of whether the current metering transportation status has been restored to validity, the cumulative transportation displacement update is stopped, the current cumulative transportation displacement is kept as the cumulative transportation displacement of the previous cycle, no new spatial mass package is created, no data is written to the spatial mass package queue, the existing spatial mass package queue is frozen, the overlap calculation of the crushing chamber inlet sweep interval and the current transportation interval is not executed, and the current cycle arrival mass flow rate, the current cycle in-transit material mass and the target mass flow rate are set to zero. During the effective period of the transportation-side reconstruction status, the frozen and saved space quality package queue is only used for reconstruction status management and is no longer used as a valid input for arrival quality flow, in-transit material quality, irreversible area material quality or other control quantities until it is cleared after physical emptying confirmation is completed. The cumulative transport displacement update, spatial mass package formation, arrival mass flow calculation, and in-transit material mass calculation are performed only when the metering transport status is valid and the transport side is not in a reconstruction state. When the metering and transportation status is valid and the transportation side is not in the reconstruction state, the effective material speed is multiplied by the control cycle to obtain the material movement distance of the current cycle, and the material movement distance of the current cycle is added to the cumulative transportation displacement of the previous cycle to obtain the current cumulative transportation displacement. When the current cumulative transport displacement is greater than the cumulative transport displacement of the previous cycle, the cumulative transport displacement of the previous cycle is used as the left boundary of the spatial quality package, the current cumulative transport displacement is used as the right boundary of the spatial quality package, the current material line mass is used as the line mass of the spatial quality package, and the left boundary, right boundary and line mass are combined to form the current spatial quality package. The current spatial quality package is added to the spatial quality package queue in chronological order. When the current cumulative transport displacement is not greater than the cumulative transport displacement of the previous cycle, no new space mass package is created, and the existing space mass package queue is maintained. When the metering and transportation status is valid and the transportation side is not in the reconstruction state, after completing the judgment on whether to establish a new spatial mass package and whether to perform queuing in the current cycle, regardless of whether a new spatial mass package is formed in the current cycle, the arrival mass flow and the mass of materials in transit are calculated using the current spatial mass package queue. The position obtained by subtracting the transport distance from the cumulative transport displacement of the previous cycle is taken as the left boundary of the currently swept interval of the crushing chamber inlet, and the position obtained by subtracting the transport distance from the current cumulative transport displacement is taken as the right boundary of the swept interval. For each spatial mass packet in the spatial mass packet queue, compare the right boundary of the spatial mass packet with the right boundary of the crushing chamber inlet swept interval and select the smaller one; compare the left boundary of the spatial mass packet with the left boundary of the crushing chamber inlet swept interval and select the larger one; subtract the larger one from the smaller one; perform non-negative processing on the resulting difference to obtain the overlap length between the spatial mass packet and the crushing chamber inlet swept interval. Multiply the linear mass of each spatial mass package by the overlap length of its corresponding inlet sweep interval to obtain the material mass of that spatial mass package arriving at the crushing chamber in the current cycle. Add up the material masses of all spatial mass packages arriving in the current cycle to obtain the total material mass arriving in the current cycle. Divide the total material mass arriving in the current cycle by the control cycle to obtain the arrival mass flow rate. The position obtained by subtracting the transportation distance from the current cumulative transportation displacement is taken as the left boundary of the current transportation interval, and the current cumulative transportation displacement is taken as the right boundary of the current transportation interval. For each spatial mass packet in the spatial mass packet queue, the right boundary of the spatial mass packet is compared with the right boundary of the current transportation interval and the smaller one is selected. The left boundary of the spatial mass packet is compared with the left boundary of the current transportation interval and the larger one is selected. The smaller one is subtracted from the larger one, and the difference is processed to obtain the overlap length between the spatial mass packet and the current transportation interval. Multiply the linear mass of each spatial mass package by the overlap length of its corresponding current transport section to obtain the material mass of that spatial mass package that is currently located between the weighing section and the crushing chamber inlet. Add up the material masses corresponding to all spatial mass packages to obtain the material mass in transit. After completing the calculation of the arrival mass flow rate and the mass of materials in transit for the current cycle, the check starts from the earliest spatial mass package. When a spatial mass package has completed the arrival calculation for the current cycle and its right boundary no longer overlaps with the crushing chamber inlet sweeping interval and the current transport interval, the spatial mass package is deleted from the queue. Once the transport-side reconstruction status is set to effective, it will remain in effect until controlled shutdown or safe shutdown is completed, physical emptying of the transport section and crushing chamber is confirmed, spatial mass package queue is cleared, cumulative transport displacement is reset, in-transit material mass is reset, and manual maintenance is reset. It will not be automatically deactivated when the metering transport status is restored to effective in a subsequent single control cycle. Before performing physical purging confirmation, confirm that the weighing measurement channel, weighing frame acceleration measurement channel, conveyor belt speed feedback channel, spindle power measurement channel, and rotor speed measurement channel are functioning normally, the corresponding data update time does not exceed one control cycle, the current mechanical output power of the spindle side is within the power measurement range, the current conveyor belt speed and rotor speed are within the coverage range of the no-load weighing baseline calibration, and the current rotor speed is within the coverage range of the no-load spindle mechanical power calibration. When all the above conditions are valid, the zero-biased acceleration of the weighing frame is subtracted from the current vertical acceleration of the weighing frame to obtain the zero-biased frame acceleration for emptying confirmation. The dynamic disturbance transmission coefficient is multiplied by the zero-biased frame acceleration to obtain the dynamic disturbance component for emptying confirmation. The current unloaded weighing baseline and the dynamic disturbance component for emptying confirmation are sequentially subtracted from the total support force of the current weighing section to obtain the uncut weighing compensation residual for emptying confirmation. Take the absolute value of the untruncated weighing compensation residual for the emptying confirmation, multiply the absolute value of the dynamic disturbance transmission coefficient by the frame acceleration resolution, and add it to the weighing force resolution to form the emptying weighing residual boundary. Determine whether the absolute value of the untruncated weighing compensation residual for the emptying confirmation is not greater than the emptying weighing residual boundary. To determine whether the actual speed of the conveyor belt is not greater than the conveyor belt speed resolution, subtract the current no-load main shaft mechanical power from the current main shaft side mechanical output power, take the absolute value of the obtained power residual, and determine whether the absolute value of the power residual is not greater than the main shaft power resolution. When the actual speed of the conveyor belt, the absolute value of the uncut weighing compensation residual and the absolute value of the main shaft power residual simultaneously meet the corresponding boundaries, and the state is continuously maintained for no less than one complete rotor cycle corresponding to the lowest calibrated speed, it is confirmed that the transport section and crushing chamber have completed physical emptying. If any measurement channel, data update time, range status, or calibration coverage condition required for purging confirmation is invalid, the purging confirmation duration will not be accumulated, and zero-occupancy results in ordinary control branches will not be used as the basis for purging. After confirming the physical emptying, clear the space mass package queue, reset the cumulative transport displacement and the mass of materials in transit to zero, manually maintain and reset, re-execute the initial state settings, and release the transport side reconstruction state. When the metering and transportation status is invalid or the transportation side is in a reconstruction state, the zero value of the arrival mass flow and the zero value of the material mass in transit are both placeholder outputs of the control algorithm to stop using the old space mass package to form an effective transportation estimate. They do not mean that there is necessarily no material in the physical transportation segment at that instant. Step 3 outputs the cumulative transport displacement, spatial mass package queue, arrival mass flow, in-transit material mass, and transport-side reconstruction status. The arrival mass flow is input into steps 4, 6, and 7; the in-transit material mass and spatial mass package queue are input into step 5; and the transport-side reconstruction status is input into steps 4 to 8. By accumulating the effective material velocity into transport displacement according to the control cycle, and constructing a temporal spatial mass package with adjacent cumulative displacement boundaries and corresponding material line mass, the material distribution obtained by the weighing section can migrate to the crushing chamber inlet along the continuous conveying path. Utilizing the overlap relationship between each spatial mass package and the inlet swept interval and the current transport interval, the arrival material mass, arrival mass flow rate, and in-transit material mass of the current cycle are formed respectively. This transforms the real-time measurement of the weighing position into a load input corresponding to the arrival time of the crushing chamber, reducing the spatiotemporal mismatch caused by fixed transport delays or only belt speed translation. When the metering transport state fails, the transport side reconstruction state is latched, the old queue is frozen and its participation in control is stopped. It is only reinitialized after shutdown, effective emptying confirmation, queue clearing, and manual reset, which can prevent expired spatial mass packages from continuing to generate false arrival flow rates and in-transit loads after the state is restored. Step 4: Call the crushing side state formed in Step 1, compare the crushing side state of the previous cycle with the crushing side state of the current cycle. When the crushing side state of the previous cycle is invalid and the crushing side state of the current cycle is valid, determine the current cycle as the first cycle of crushing side recovery. When the crushing side state is invalid, the stabilized rotor speed of the previous cycle is maintained, the rotor kinetic energy change power of the current cycle is not calculated, the rotor kinetic energy change power of the current cycle and the current effective crushing power are set to zero, and the current spindle power data is not used to form an energy consumption window sample. During the first cycle of recovery on the crushing side, the currently measured rotor angular velocity is written into the stabilized rotor velocity, the stabilized rotor velocity reference is rebuilt, the rotor kinetic energy change power across the invalid state interval is calculated without using the stabilized rotor velocity before recovery and the current stabilized rotor velocity, and the rotor kinetic energy change power of the first cycle of recovery is set to zero. When the crushing side is continuously effective and the current cycle is not the first cycle of recovery, the difference between the current rotor angular velocity and the stabilized rotor velocity of the previous cycle is taken and the absolute value is obtained. When the absolute value is not greater than the speed resolution, the stabilized rotor velocity of the previous cycle is maintained. When the absolute value is greater than the speed resolution, the current rotor angular velocity is taken as the current stabilized rotor velocity. When the crushing side is continuously effective and the current cycle is not the first cycle of recovery, the current stabilized rotor speed and the stabilized rotor speed of the previous cycle are squared respectively. The square of the current stabilized rotor speed is subtracted from the square of the stabilized rotor speed of the previous cycle. The difference is multiplied by the equivalent moment of inertia of the rotor and then divided by the time scale corresponding to the two control cycles to obtain the change power of rotor kinetic energy. When the crushing side is in a valid state, the current no-load main shaft mechanical power and the current rotor kinetic energy change power are subtracted sequentially from the current main shaft side mechanical output power. The resulting power difference is then processed to obtain the current effective crushing power. During the first cycle of recovery on the crushing side, the current power deduction result can be formed according to the aforementioned spindle power deduction relationship for monitoring the equipment operation status. However, this result is not determined as a current effective crushing power sample with energy consumption window eligibility, and is not paired with the current arriving mass flow rate and written into the energy consumption window. The energy consumption window reconstruction state is maintained. When the crushing side is invalid or the transportation side is in reconstruction state, stop writing samples to the energy consumption window, clear the energy consumption window sample set, and set the energy consumption window reconstruction state to valid. like Figure 5 As shown, the energy consumption window sample set is maintained in chronological order. Only when the current metering and transportation status is valid, the current crushing side status is valid, the transportation side is not in the reconstruction state, and the current cycle is not the first cycle of the crushing side recovery, will the current effective crushing power and the current arriving mass flow rate be added as a pair of energy consumption samples for the same control cycle to the energy consumption window sample set. When the number of samples exceeds the energy consumption window length after adding new samples, the earliest sample is deleted, and only the most recently formed paired energy consumption samples with the same number of energy consumption window lengths are retained. Samples before the most recent window clearing must not form the same energy consumption window with samples formed after the window is cleared. For each pair of samples in the energy consumption window, the effective crushing power is multiplied by the control cycle to obtain the effective crushing energy of the corresponding cycle, and the arriving mass flow rate is multiplied by the control cycle to obtain the arriving material mass of the corresponding cycle. The effective crushing energy of each cycle within the window is accumulated to obtain the cumulative effective crushing energy of the window; the mass of material arriving in each cycle within the window is accumulated to obtain the cumulative mass of material arriving in the window. Multiply the mass flow rate resolution by the control cycle to obtain the single-cycle mass resolution, and multiply the energy consumption window length by the single-cycle mass resolution to obtain the cumulative material mass lower limit reached by the window. Extract the maximum and minimum values ​​of the mass flow rate reaching the window, subtract the minimum value from the maximum value to obtain the mass flow rate fluctuation of the window, divide the maximum mass flow rate of the feeding mechanism by the energy consumption window length, and add it to the mass flow rate resolution to obtain the mass flow rate fluctuation admission boundary of the window. When the number of energy consumption window samples reaches the length of the energy consumption window, all samples within the window are formed in a cycle where the metering and transportation state and the crushing side state are effective and the transportation side is not in the reconstruction state, the cumulative arrival material mass of the window is not less than the lower limit of the cumulative arrival material mass of the window, and the fluctuation of the window mass flow rate is not greater than the threshold of the window mass flow rate fluctuation, the cumulative effective crushing energy of the window is divided by the cumulative arrival material mass of the window to obtain the updated unit mass crushing energy consumption, and the energy consumption window reconstruction state is released at the end of the current control cycle; When the energy consumption window is in the reconstruction state and a complete energy consumption window that meets the update conditions has not yet been formed, compare the initial unit mass crushing energy consumption with the unit mass crushing energy consumption of the previous cycle, and take the larger of the two as the unit mass crushing energy consumption for the current reconstruction. When the energy consumption window is not in the reconstruction state but the current window has not yet met the update conditions, maintain the unit mass crushing energy consumption of the previous cycle. Step 4 outputs the stabilized rotor speed, rotor kinetic energy change power, effective crushing power, energy consumption window sample set, energy consumption window reconstruction state, and unit mass crushing energy consumption. The stabilized rotor speed and unit mass crushing energy consumption are input into steps 5 and 6. By setting a reconstruction rule for the first effective cycle in the recovery process of the crushing side, the calculation of kinetic energy change power using rotor speed differences that cross invalid intervals is avoided, and the first recovery cycle is excluded from the energy consumption window sample. This prevents discontinuous states before and after the interruption from being mistaken for rotor acceleration or deceleration energy. Within the continuous effective cycle, the rotor speed is stabilized by resolution. The no-load main shaft mechanical power and rotor kinetic energy change power are subtracted from the main shaft mechanical output power to obtain the effective crushing power corresponding to the material crushing action. The effective crushing power and the arriving mass flow rate in the same cycle are then written into the energy consumption window in pairs to maintain the time correspondence between energy and material mass. The unit mass crushing energy consumption is updated by combining the cumulative material mass and flow rate fluctuation admission conditions in the window, and a conservative energy consumption value is adopted during the window reconstruction period. This provides a stable material crushing demand scale for subsequent load forecasting and mass flow rate upper limit conversion. Step 5: When the metering and transportation status is valid and the transportation side is not in the reconstruction status, multiply the effective material speed by the control cycle to obtain the material movement distance of the current cycle. Square the effective material speed and divide it by twice the lower limit of the effective material deceleration to obtain the braking distance required for the material to decelerate from the current speed to a stop. Add the material movement distance of the current cycle to the braking distance to obtain the theoretical transportation distance before the material stops entering the crushing chamber. Compare the theoretical transportation distance with the transportation distance from the center of the weighing section to the entrance of the crushing chamber, and take the smaller of the two as the length of the irreversible zone. The position obtained by subtracting the transportation distance from the current cumulative transportation displacement is taken as the left boundary of the irreversible zone. The left boundary of the irreversible zone is added to the length of the irreversible zone to obtain the right boundary of the irreversible zone. For each spatial quality packet in the spatial quality packet queue, compare the right boundary of the spatial quality packet with the right boundary of the irreversible region and select the smaller one. Compare the left boundary of the spatial quality packet with the left boundary of the irreversible region and select the larger one. Subtract the larger one from the smaller one and perform non-negative processing on the resulting difference to obtain the overlap length between the spatial quality packet and the irreversible region. Multiply the linear mass of each spatial mass package by the overlap length of its corresponding irreversible zone to obtain the material mass of the spatial mass package located within the irreversible zone. Add up the material masses of the irreversible zones corresponding to all spatial mass packages to obtain the material mass of the irreversible zone. The upper limit of the theoretical material speed for the next cycle is obtained by adding the product of the effective material speed, the maximum allowable acceleration of the conveyor belt, and the control cycle. The upper limit of the theoretical material speed for the next cycle is then compared with the maximum speed of the conveyor belt, and the smaller of the two is taken as the upper limit of the material speed for the next cycle. When both the material mass in the irreversible zone and the material mass in transit are greater than the single-cycle mass resolution, the maximum linear mass is extracted from the spatial mass packet with a positive overlap length with the irreversible zone as the peak linear mass. The peak linear mass is multiplied by the upper limit of the material velocity in the next cycle, and the resulting mass flow rate is compared with the maximum mass flow rate of the feeding mechanism. The smaller of the two is taken as the peak arrival mass flow rate. When the mass of material in the irreversible zone is not greater than the mass resolution of a single cycle, or the mass of material in transit is not greater than the mass resolution of a single cycle, the peak line mass and peak arrival mass flow rate are set to zero. When the metering and transportation status is invalid or the transportation side is in the reconstruction state, the irreversible zone length, irreversible zone material mass, peak line mass, upper limit of material velocity in the next cycle, and peak arrival mass flow rate are set to zero. When the crushing side state is effective, the stabilized rotor speed is squared, the minimum allowable angular velocity of the rotor is squared, the former is subtracted from the latter, the difference is multiplied by the equivalent moment of inertia of the rotor, and half of the result is taken. The resulting mechanical energy is then subjected to non-negative processing to obtain the mechanical energy that the rotor can release when it drops from the current stabilized rotor speed to the minimum allowable angular velocity. Divide the rotor's releaseable mechanical energy by the control cycle to obtain the releaseable power within one control cycle. Multiply the allowable mechanical torque of the spindle by the stabilized rotor speed to obtain the torque boundary mechanical power corresponding to the current speed. Subtract the allowable continuous spindle mechanical power from the torque boundary mechanical power. Perform non-negation processing on the resulting difference to obtain the torque boundary residual power outside the continuous power boundary. Compare the releaseable power with the torque boundary residual power and take the smaller of the two as the rotor's short-term additional buffer capacity. Subtract the current no-load spindle mechanical power from the allowable continuous spindle mechanical power, and perform non-negation processing on the resulting difference to obtain the continuous net crushing capacity; When the crushing side condition is invalid, the rotor's releaseable mechanical energy, releaseable power, torque boundary residual power, rotor's short-term additional buffer capacity, and continuous net crushing capacity are set to zero. When both the metering and transportation status and the crushing side status are valid and the transportation side is not in the reconstruction state, the peak arrival mass flow rate is multiplied by the unit mass crushing energy consumption to obtain the expected peak crushing power of the irreversible zone. The continuous net crushing capacity and the rotor short-term additional buffer capacity are deducted sequentially from the expected peak crushing power of the irreversible zone. The resulting power difference is processed to obtain the non-negative power part of the irreversible load that exceeds the current available crushing capacity. Add the expected peak crushing power of the irreversible zone to the main shaft power resolution to obtain the over-limit ratio stable denominator. Divide the non-negative over-limit power corresponding to the irreversible load by the over-limit ratio stable denominator to obtain the load over-limit ratio. When the metering and transportation state or the crushing side state is invalid, or the transportation side is in the reconstruction state, the load over-limit ratio is set to the full-width over-limit ratio, which is the full-width over-limit ratio of the ratio scale and is used to form the zero-residual ratio in step six. Step 5 outputs the length of the irreversible zone, the mass of the material in the irreversible zone, the mass of the peak line, the upper limit of the material velocity in the next cycle, the mass flow rate at the peak, the continuous net crushing capacity, the rotor's short-term additional buffer capacity, and the overload ratio, of which the overload ratio is input into step 6; By combining the current cycle material movement distance with the braking distance based on the effective deceleration of the material, and limiting the irreversible zone length by the transport distance, the near-end material range that will continue to enter the crushing chamber after the control command is lowered can be identified. The material mass in the irreversible zone is obtained by utilizing the overlap relationship between the spatial mass package and this zone. When both the material mass in the irreversible zone and the material mass in transit exceed the discernible mass scale, the peak line mass is extracted. Combined with the upper limit of the material velocity in the next cycle, the peak arrival mass flow rate is formed, which can avoid the peak load judgment being triggered by extremely small residual materials or indistinguishable fluctuations. Furthermore, the expected crushing power of the peak arrival mass flow rate is compared with the continuous net crushing capacity and the short-term additional buffer capacity limited by the rotor's releaseable mechanical energy and torque boundary to form the load over-limit ratio, so that subsequent control can reflect the degree of irreversible load on crushing capacity before the material arrives. Step 6: When the crushing side is in an effective state and the number of effective vibration samples in the current control cycle is equal to the specified number of vibration samples, sum the specified vibration samples and then divide by the specified number of vibration samples to obtain the average value of the vibration samples in the current cycle. The mean of each vibration sample is subtracted from each specified vibration sample to obtain the corresponding mean-reduced vibration difference. Each mean-reduced vibration difference is squared, and all squared results are summed and then divided by the specified number of vibration samples to obtain the average value of the vibration square difference. The square root of the average value of the vibration square difference is obtained to obtain the real-time vibration root mean square. When the crushing side is invalid or the number of valid vibration samples is not equal to the specified number of vibration samples, the division calculation of the mean of vibration samples and the average of the vibration square difference will not be performed, and the real-time root mean square of vibration, total load mass flow rate, upper limit of rotational speed and flow rate and upper limit of vibration flow rate will be set to zero. Divide the spindle power resolution by the maximum mass flow rate of the feeding mechanism to obtain the unit mass energy consumption resolution. Compare the current unit mass crushing energy consumption with the unit mass energy consumption resolution, and take the larger of the two as the unit energy consumption conversion scale. When the crushing side is in effect, the current no-load spindle mechanical power is subtracted from the allowable continuous spindle mechanical power, and the difference is processed to obtain the current continuous net power. The current continuous net power is divided by the unit energy consumption conversion scale to obtain the mass flow rate converted according to the crushing capacity. The mass flow rate is compared with the maximum mass flow rate of the feeding mechanism, and the smaller of the two is taken as the total bearing mass flow rate. When the crushing side condition is invalid, the total load mass flow rate is set to zero; When both the metering and transportation state and the crushing side state are valid and the transportation side is not in the reconstruction state, the current mechanical output power of the main spindle side is subtracted from the allowed continuous main spindle mechanical power, the positive and negative directions of the obtained power difference are retained, and the signed power difference is divided by the unit energy consumption conversion scale to obtain the mass flow correction amount. When the signed power difference is positive, the mass flow rate correction is positive, indicating that the current continuous power state allows for an increase in the subsequent upstream feed mass flow rate based on the current arriving mass flow rate; When the signed power difference is negative, the mass flow rate correction is negative, indicating that the current main shaft mechanical output power has exceeded the allowable continuous main shaft mechanical power, and the subsequent upstream feed mass flow rate needs to be reduced based on the current reached mass flow rate. The negative mass flow rate correction does not indicate physical retraction of the material that has reached the crushing chamber. The mass flow correction is added to the current arriving mass flow to obtain the power constraint candidate mass flow. When the power constraint candidate mass flow is less than zero, it is set to zero. When the power constraint candidate mass flow is greater than the total carrying mass flow, it is set to the total carrying mass flow to obtain the power flow limit. When the metering and transportation status or the crushing side status is invalid, or when the transportation side is in the reconstruction status, set the mass flow correction and power flow upper limit to zero; When the crushing side is effective, the minimum allowable angular velocity of the rotor is subtracted from the stabilized rotor speed to obtain the speed margin that is higher than the minimum allowable angular velocity of the current speed. The minimum allowable angular velocity of the rotor is subtracted from the rated angular velocity of the rotor to obtain the allowable speed range. The speed margin is divided by the allowable speed range, and the resulting ratio is limited to between zero and a unit ratio to obtain the remaining speed ratio. The total load mass flow rate is multiplied by the remaining speed ratio to obtain the upper limit of speed flow rate. When the condition on the broken side is valid and the number of valid vibration samples is equal to the number of specified vibration samples, the current vibration residual amount is obtained by subtracting the real-time vibration root mean square value from the allowable vibration root mean square value. The current unloaded reference vibration is obtained by subtracting the current vibration residual value from the allowable vibration root mean square value. The current vibration residual amount is divided by the allowable vibration span, and the resulting ratio is limited to between zero and a unit ratio to obtain the vibration residual ratio. The total load mass flow rate is multiplied by the vibration residual ratio to obtain the upper limit of vibration flow rate. When the crushing side is invalid or the number of effective vibration samples is not equal to the specified number of vibration samples, the upper limit of rotational speed and flow rate and the upper limit of vibration flow rate are set to zero. When both the metering and transportation status and the breakage side status are valid and the transportation side is not in the reconstruction status, the load over-limit ratio is deducted from the full-width over-limit ratio to obtain the remaining ratio corresponding to the irreversible load. The remaining ratio is then limited to between zero and a unit ratio. Finally, the total carrying mass flow rate is multiplied by the remaining ratio to obtain the upper limit of the irreversible load flow rate. When the metering transport status or the breakage side status is invalid, or the transport side is in the reconstruction state, the upper limit of the irreversible load flow will be set to zero. Step six outputs the real-time vibration root mean square, unit mass energy consumption resolution, unit energy consumption conversion scale, total load mass flow rate, mass flow rate correction, power flow rate upper limit, speed flow rate upper limit, vibration flow rate upper limit, and irreversible load flow rate upper limit. The five types of mass flow rate upper limits are input into step seven. By performing root mean square (RMS) processing on the complete vibration samples and using the larger of the current unit mass crushing energy consumption and the unit mass energy consumption resolution as the energy consumption conversion scale, the DC bias of vibration and the amplification of mass flow rate estimation by the denominator of the energy consumption can be avoided. The total load mass flow rate is formed by subtracting the no-load spindle mechanical power from the allowable continuous spindle mechanical power. Then, based on the speed margin, vibration margin, and the proportion of irreversible load remaining, the upper limit of speed flow rate, vibration flow rate, and irreversible load flow rate are generated, so that different physical boundaries are uniformly converted into comparable mass flow rate scales. At the same time, the positive and negative directions of the allowable continuous spindle mechanical power and the current spindle side mechanical output power are retained, and they are converted into mass flow rate corrections and superimposed on the current reached mass flow rate. This allows for the increase of subsequent feeding when there is power surplus and the reduction of the future feeding upper limit when the power exceeds the limit, forming a double constraint that takes into account both power and irreversible load. Step 7: When both the metering and transportation status and the crushing side status are valid and the transportation side is not in the reconstruction status, compare the total load mass flow rate, power flow rate limit, speed flow rate limit, vibration flow rate limit, and irreversible load flow rate limit, and extract the minimum value as the original target mass flow rate. When the metering and transportation status or the crushing side status is invalid, or when the transportation side is in the reconstruction status, the original target mass flow rate and the target mass flow rate are set to zero. When the original target mass flow rate is not less than the target mass flow rate of the previous cycle, the target mass flow rate of the previous cycle is subtracted from the original target mass flow rate to obtain the target mass flow rate increase. When the increase is not greater than the mass flow rate resolution, the target mass flow rate of the previous cycle is maintained as the current target mass flow rate. When the original target quality flow rate is less than the target quality flow rate of the previous cycle, the original target quality flow rate is directly used as the current target quality flow rate. When the original target mass flow rate is not less than the target mass flow rate of the previous period, and the increase between the two is greater than the mass flow rate resolution, the original target mass flow rate is taken as the current target mass flow rate. Step 7 outputs the raw target mass flow rate and the target mass flow rate, and inputs the target mass flow rate into Step 8; By extracting minimum values ​​for the total load mass flow rate, power flow rate limit, speed flow rate limit, vibration flow rate limit, and irreversible load flow rate limit when both the metering and transportation states are effective and the transportation side is not in a reconstruction state, the target feed rate is subject to the tightest constraints. This avoids ignoring speed drops, vibration approaching the boundary, or irreversible loads in transit when increasing feed rate solely based on power surplus. Maintaining the target value of the previous cycle when the increase in the original target mass flow rate does not exceed the mass flow rate resolution can suppress frequent incremental adjustments caused by small changes within the measurement resolution range. When the target flow rate decreases or increases beyond the recognizable scale, a new value is adopted, enabling the control to respond to risks more tightly without causing actuator reciprocating motion due to unrecognizable fluctuations. Setting the target flow rate to zero when any critical state fails or the transportation side is reconstructed can prevent invalid upper limits from being transmitted to the belt speed conversion stage. Step 8: When the metering and transportation status is valid and the transportation side is not in the reconstruction state, compare the current material line quality and the starting reference line quality, and take the larger of the two as the execution conversion reference line quality. When the metering and transportation status is invalid or the transportation side is in the reconstruction state, the starting reference line quality is used as the execution conversion reference line quality. When both the conveyor belt speed feedback state and the metering and transportation state are effective and the transportation side is not in the reconstruction state, compare the actual conveyor belt speed and the conveyor belt speed resolution, take the larger of the two as the denominator of the material movement ratio conversion, divide the effective material speed by the conversion denominator to obtain the initial ratio of material movement relative to the conveyor belt, and limit the initial ratio between the minimum material movement ratio and the unit ratio to obtain the material movement ratio relative to the conveyor belt. When the conveyor belt speed feedback state or metering and transportation state is invalid, or when the transportation side is in reconstruction state, the minimum material movement ratio that is strictly greater than zero will be used as the material movement ratio relative to the conveyor belt. When the metering and transportation status is valid and the transportation side is not in the reconstruction state, the conversion reference line mass is multiplied by the material relative to the conveyor belt movement ratio to obtain a target flow rate that is strictly greater than zero to the belt speed conversion scale. The target mass flow rate is divided by the conversion scale to obtain the target belt speed without boundary constraints. The target belt speed is then limited to between zero and the maximum speed of the conveyor belt to obtain the target belt speed without dynamic boundary processing. When the metering and transportation status is invalid or the transportation side is in a reconstruction state, the target belt speed that has not been dynamically boundary processed will be set to zero. Compare the conveyor belt speed resolution and the drive dead zone, and take the larger of the two as the speed holding zone; When the conveyor belt speed feedback state is valid, the target belt speed without dynamic boundary processing is compared with the actual conveyor belt speed. When the target belt speed without dynamic boundary processing is not less than the actual conveyor belt speed, the maximum allowable acceleration of the conveyor belt is selected as the speed change boundary in the current adjustment direction. When the target belt speed without dynamic boundary processing is less than the actual conveyor belt speed, the maximum allowable deceleration of the conveyor belt is selected as the speed change boundary in the current adjustment direction. The absolute value of the difference between the target belt speed without dynamic boundary processing and the actual speed of the conveyor belt is taken. When the absolute value of the speed difference is not greater than the speed holding zone, the current speed command increment is set to zero. When the absolute value of the speed difference is greater than the speed holding zone, the speed change boundary in the current adjustment direction is multiplied by the control cycle to obtain the maximum allowable speed change in the current cycle. The absolute value of the speed difference and the maximum allowable speed change are compared, and the smaller of the two is taken as the speed command increment amplitude. The direction of the speed command increment is determined according to the direction of increase or decrease of the target belt speed relative to the actual speed of the conveyor belt without dynamic boundary processing. The actual speed of the conveyor belt is added to the speed command increment, and the result is limited to between zero and the maximum speed of the conveyor belt to obtain the conveyor belt speed command. When the conveyor belt speed feedback status is invalid, the speed command increment and the conveyor belt speed command are set to zero; Update the current alarm lock status based on the alarm lock status of the previous cycle and the current hardware safety loop status. If the alarm lock status of the previous cycle has been triggered, maintain the current alarm lock status. If the alarm lock status of the previous cycle has not been triggered but the current hardware safety loop cannot be triggered, set the current alarm lock status to triggered. If the alarm lock status of the previous cycle has not been triggered and the current hardware safety loop can be triggered, maintain the current alarm lock status as not triggered. When the inverter command channel is valid and the alarm lockout is not triggered, the valid frequency write status is set to valid; when the inverter command channel is invalid or the alarm lockout has been triggered, the valid frequency write status is set to invalid. When the effective frequency write status is valid and the conveyor belt speed feedback status is valid, the conveyor belt speed command is divided by the belt speed to inverter frequency conversion ratio to obtain the new value of the inverter frequency command actually written in this cycle. The frequency command is written to the inverter and the internal record of the frequency command is updated to the new value of the frequency command actually written in this cycle. When the effective frequency write status is valid but the conveyor belt speed feedback status is invalid, the zero frequency is formed as the new value of the inverter frequency command actually written in this cycle, the zero frequency is written to the inverter, and the internal record of the frequency command is updated to zero frequency. When the valid frequency write status is invalid, no new inverter frequency write action is generated, no new inverter frequency command value is generated for the current cycle, and the internal record of the frequency command of the previous cycle is maintained. The internal record of the frequency command only represents the most recently successfully formed write record and does not indicate that the frequency write has been completed in the current cycle. When the inverter command channel is invalid, the hardware safety loop is triggerable, and the alarm lockout state is not triggered, the hardware safety shutdown trigger state is set to trigger, and the independent hardware safety loop is controlled to perform shutdown. When the inverter command channel is valid, the hardware safety loop is not triggered, or the alarm lockout state has been triggered, the hardware safety shutdown trigger state is set to non-triggered. When the hardware safety loop is not triggered, the non-triggered state is not interpreted as system safety, but rather enters or remains in the alarm lockout state and prohibits ordinary frequency writing. Once the alarm lockout is triggered, it will not be automatically released through the normal control cycle. It will only be released after the hardware safety circuit fault is eliminated, the physical emptying of the transport section and crushing chamber is confirmed, the space mass package queue is cleared, the cumulative transport displacement and the mass of materials in transit are reset, and after manual maintenance and reset, the initial state setting specified in step one will be executed again. Step 8 continuously outputs the execution conversion reference line quality, material relative to the conveyor belt movement ratio, target belt speed without dynamic boundary processing, conveyor belt speed command, effective frequency writing status, frequency command internal record, hardware safety stop trigger status, and alarm lock status. When the effective frequency writing status is valid, it also outputs the new value of the inverter frequency command actually written in this cycle. When the effective frequency writing status is invalid, it does not output the new value of the frequency actually written in this cycle. By selecting the larger of the current material line mass and the starting reference line mass as the conversion basis, and using the effective material speed relative to the actual conveyor belt speed to form a material movement ratio constrained by the minimum movement ratio, the target mass flow rate can be avoided from being converted to an excessively high belt speed during low load, startup, or relative slippage. By limiting the target belt speed within the equipment speed boundary and using corresponding dynamic boundaries according to the acceleration or deceleration direction, and then forming a speed holding zone with the conveyor belt speed resolution and drive dead zone, invalid writes caused by small changes can be reduced, and timely execution at the allowed deceleration speed can be ensured when reducing the quantity. By combining the command channel, speed feedback, safety loop, and alarm lockout status to distinguish between normal writes, zero-frequency writes, historical record retention, and hardware safety shutdown, it is possible to prevent internal records from being mistaken for actual execution results when communication failures or feedback failures occur, and to maintain the abnormal state until emptying and manual reset before restarting. It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0021] 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 technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling the feed rate of a biomass crusher, characterized in that, include: Collect weighing, frame acceleration, conveyor belt and material speed, main shaft power, rotor angular velocity and vibration data, and determine the metering and transportation status and crushing side status based on equipment parameters and diagnostic status; The compensated weighing signal is used to obtain the material line mass and mass flow rate, and the transportation side is reconstructed when the metering and transportation status is invalid. When the metering and transportation status is valid and the transportation side is not in a reconstruction state, a spatial mass package is established based on the material displacement and material line mass to obtain the arrival mass flow rate and the mass of the material in transit. The unit mass crushing energy consumption is obtained based on the spindle power, rotor kinetic energy change and the arrival mass flow rate. Irreversible load and multiple mass flow rate limits are generated by combining the material transportation status and equipment constraints. The arrival mass flow rate is corrected by the signed difference between the allowable continuous spindle mechanical power and the current spindle side mechanical output power to form the power flow rate limit. The target mass flow rate is obtained by taking the minimum value among the upper limits of each mass flow rate, converting it into the target belt speed, and outputting the frequency converter frequency command or safety control status.

2. The method for controlling the feed rate of a biomass crusher according to claim 1, characterized in that, The collection of weighing, frame acceleration, conveyor belt and material speed, main shaft power, rotor angular velocity, and vibration data, based on equipment parameters and diagnostic status, determines the metering and transportation status and the crushing side status, specifically including: The weighing section to the crushing chamber inlet is set as the same continuous belt feeding conveyor section without intermediate material drop points, independent drive areas, secondary shaping mechanisms, and transfer mechanisms that change the longitudinal speed of materials. A lateral guiding structure that restricts the lateral displacement of materials and an anti-slip structure that inhibits the slippage of materials relative to the conveyor belt are set in the continuous belt feeding conveyor section. Under multiple conveying speed levels that cover at least the minimum effective speed, intermediate speed and rated speed, as well as multiple non-zero load levels, the material speed in the weighing zone and the crushing chamber inlet zone are collected respectively. Only when the difference between the two speed measurement results is within the joint resolution range of the two speed measurement devices, the material speed in the weighing zone is taken as the common translation speed of the continuous belt feeding conveyor section. The applicability of the continuous belt feeding conveyor section is determined by the fact that the continuous belt feeding conveyor section meets the structural conditions and the verification results of the common translation speed are valid. The deceleration calibration is performed according to the maximum allowable deceleration of the conveyor belt. The process of material speed decrease under each calibration state is collected, and the minimum value of the corresponding material actual deceleration is taken as the lower limit of the material effective deceleration. Collect samples of total support force of the weighing section, vertical acceleration of the weighing frame, actual speed of the conveyor belt, actual moving speed of the material, mechanical output power of the main shaft, rotor angular velocity, and vibration acceleration of the bearing seat according to the control cycle; The system reads the effective length of the weighing section, the transport distance from the weighing section to the inlet of the crushing chamber, the equivalent moment of inertia of the rotor, the allowable continuous main shaft mechanical power, the allowable main shaft mechanical torque, the speed boundary, the vibration boundary, the dynamic boundary of the conveyor belt, the rated maximum linear mass of the weighing section, the maximum mass flow rate of the feeding mechanism, the no-load weighing baseline, the static zero deviation of the weighing frame acceleration, the gravitational acceleration, the conversion ratio of belt speed to frequency converter frequency, the drive dead zone, the starting reference line mass, the minimum material movement ratio, the no-load main shaft mechanical power, the no-load reference vibration, the initial unit mass crushing energy consumption, the chamber response calibration data, and the resolution and sampling frequency of each measurement channel. The conveyor belt speed feedback status is determined based on the diagnostic results of the conveyor belt speed feedback channel, the data update time, and whether the actual speed of the conveyor belt is within the conveyor belt speed boundary. The pre-inspection status of metering and transportation is determined based on the diagnostic results of the measurement channels corresponding to the total support force of the weighing section, the vertical acceleration of the weighing frame, the actual speed of the conveyor belt, the actual moving speed of the material, the data update time and the range status, as well as whether the operating status data used to retrieve the empty weighing baseline is within the corresponding calibration coverage range. Based on the diagnostic results of the measurement channels corresponding to the main shaft mechanical output power, rotor angular velocity and bearing housing vibration acceleration, data update time, range status, vibration sample integrity, calibration coverage status of no-load main shaft mechanical power and no-load reference vibration, as well as the effective span of the resolution relative to the main shaft power between the continuous main shaft mechanical power and the no-load main shaft mechanical power, the effective span of the resolution relative to the rotor angular velocity of the speed boundary and the effective span of the vibration boundary relative to the vibration resolution, the crushing side status is determined. The status of the inverter command channel is determined based on the communication diagnostics and write fault status of the inverter command write channel. The status of the hardware security loop is determined based on the diagnostic results and trigger fault status of the hardware security loop and security trigger channel. The applicability of the continuous belt feeding conveyor section and the results of each state determination are used for subsequent data calculation and control output.

3. The method for controlling the feed rate of a biomass crusher according to claim 1, characterized in that, The compensated weighing signal obtains the material line mass and mass flow rate, and determines the metering and transportation status, specifically including: The calibration weighing output and weighing frame acceleration are collected under multiple non-zero calibration line mass conditions. The static zero bias is deducted from the weighing frame acceleration, and the no-load weighing baseline and the gravity load corresponding to the calibration material are deducted from the calibration weighing output to obtain the weighing residual under each calibration condition. When the sum of the squared values ​​of the zero-bias corrected rack acceleration corresponding to the calibration sample set participating in the dynamic disturbance calibration is non-zero, the weighing residuals in the sample set are multiplied by the corresponding zero-bias corrected rack acceleration and accumulated. The resulting multiplied sum is divided by the sum of the squared values ​​of the zero-bias corrected rack acceleration to obtain the dynamic disturbance transmission coefficient. When the pre-inspection status of metering and transportation is valid, the static zero bias is subtracted from the vertical acceleration of the current weighing frame to obtain the current zero bias corrected frame acceleration. The dynamic disturbance transmission coefficient is multiplied by the current zero bias corrected frame acceleration to obtain the current dynamic disturbance component. The empty weighing baseline and the current dynamic disturbance component in the corresponding operating state are subtracted from the total support force of the real-time weighing section. Non-negative boundary processing is performed on the obtained compensation load. The compensation load after non-negative boundary processing is divided by the product of the gravitational acceleration and the effective length of the weighing section to obtain the mass of the material line. When the actual material movement speed is greater than the material speed resolution, the actual material movement speed is taken as the effective material speed. When the actual material movement speed is not greater than the material speed resolution, the effective material speed is set to zero. The mass flow rate is obtained by multiplying the material linear mass by the effective material speed. When the metering and transportation pre-inspection status is invalid, the current material line mass, effective material speed, and mass flow rate are set to zero; The absolute value of the dynamic disturbance transmission coefficient is multiplied by the frame acceleration resolution and added to the weighing resolution to obtain the composite load resolution. The composite load resolution is then divided by the product of the gravitational acceleration and the effective length of the weighing section to obtain the line mass resolution. Multiply the maximum speed of the conveyor belt by the linear mass resolution, multiply the rated maximum linear mass of the weighing section by the material velocity resolution, and add the two products to obtain the mass flow rate resolution. When the applicability of the continuous belt feeding conveyor section is established, the current metering and transportation pre-inspection status is valid, the current material line mass is not less than zero and not greater than the rated maximum line mass of the weighing section, and the current mass flow rate is not less than zero and not greater than the sum of the maximum mass flow rate of the feeding mechanism and the mass flow rate resolution, the metering and transportation status of the current control cycle is determined to be valid. If any condition is not met, the metering and transportation status of the current control cycle is determined to be invalid. The mass flow resolution is multiplied by the control cycle to obtain the single-cycle mass resolution.

4. The method for controlling the feed rate of a biomass crusher according to claim 1, characterized in that, When the metering and transportation status is valid and the transportation side is not in a reconstruction state, a spatial mass package is established based on the material displacement and material line mass to obtain the arriving mass flow rate and the mass of materials in transit, specifically including: Multiply the effective material speed by the control cycle and add it to the cumulative transport displacement of the previous cycle to obtain the current cumulative transport displacement; When the current cumulative transport displacement is greater than the cumulative transport displacement of the previous cycle, the cumulative transport displacement of the previous cycle and the current cumulative transport displacement are used as spatial boundaries, and the current material line mass is combined with the spatial boundary to form a spatial mass package. The current spatial mass package is added to the spatial mass package queue in chronological order. If the current cumulative transport displacement is not greater than the cumulative transport displacement of the previous cycle, no new space mass packet is created and no new packet is written to the space mass packet queue. The overlap length between each spatial mass packet in the spatial mass packet queue and the inlet of the crushing chamber in the current cycle is extracted. The overlap length is multiplied by the corresponding linear mass and then summarized. The result is converted into the arrival mass flow rate according to the control cycle. Extract the overlap length between each spatial mass package in the spatial mass package queue and the transport section from the weighing section to the crushing chamber inlet, multiply the overlap length by the corresponding linear mass, and summarize it as the material mass in transit; When the metering and transportation status is invalid, stop updating the cumulative transportation displacement and writing the spatial mass package, set the arrival mass flow and the mass of materials in transit to zero, and set the transportation side to reconstruction status. When the transportation side is in a rebuilding state, keep the cumulative transportation displacement update and spatial mass packet writing stopped, and keep the arrival mass flow and in-transit material mass at zero. After completing shutdown, emptying confirmation, clearing of space quality package queue, resetting of cumulative transport displacement and in-transit material quality, and manual maintenance reset, the transport side status is reinitialized.

5. The method for controlling the feed rate of a biomass crusher according to claim 1, characterized in that, The method of obtaining the unit mass crushing energy consumption based on the main shaft power, rotor kinetic energy change, and arrival mass flow rate specifically includes: Based on the state of the crushing side, determine whether the adjacent control cycle crosses the invalid state. In the first effective cycle of the crushing side recovery, use the current rotor angular velocity to reconstruct the stable rotor angular velocity, and determine this cycle as the first cycle of the crushing side recovery. During the first cycle of the recovery on the crushing side, the power of rotor kinetic energy change across the invalid state is not calculated, the current cycle effective crushing power sample for writing the energy consumption window and updating the unit mass crushing energy consumption is not formed, the arrival mass flow rate of this cycle is not paired with any current cycle power result and written into the energy consumption window, and the energy consumption window reconstruction state is maintained. Within the continuous effective control cycles after the first cycle of the crushing side recovery, the difference between the current rotor angular velocity and the stabilized rotor angular velocity of the previous cycle is compared. When the difference is within the speed resolution range, the stabilized rotor angular velocity of the previous cycle is maintained. When the difference exceeds the speed resolution range, the stabilized rotor angular velocity is updated using the current rotor angular velocity. The change in rotor kinetic energy power is calculated based on the difference in the square of the angular velocity of adjacent stabilized rotors, the equivalent moment of inertia of the rotor, and the control period. Subtract the no-load main shaft mechanical power and rotor kinetic energy change power at the corresponding speed from the mechanical output power of the main shaft side, and perform non-negative boundary processing on the obtained power to obtain the effective crushing power; When the crushing side is invalid or the transportation side is in reconstruction state, stop writing samples to the energy consumption window, clear the energy consumption window sample set and set the energy consumption window to reconstruction state. The moment when the calibration batch first arrives at the crushing chamber is taken as the starting point of the chamber response time, and the moment when the effective crushing power falls back to the range of the main shaft power resolution and continues for a complete rotor cycle is taken as the ending point of the chamber response time. The ratio of cavity response time to control cycle is rounded up and compared with the minimum window length that can form at least one set of adjacent samples. The larger of the two is taken as the energy consumption window length. Multiply the mass flow resolution by the control cycle to obtain the single-cycle mass resolution; The energy consumption window sample set is maintained in chronological order. Only the current effective crushing power and arrival mass flow rate of the current period that are both valid in the metering and transportation state and the crushing side state, the transportation side is not in the reconstruction state, and the current period is not the first period of the crushing side recovery are added to the set as paired energy consumption samples. When the number of samples exceeds the length of the energy consumption window, the earliest sample is deleted. Multiply the effective crushing power in each pair of energy consumption samples by the control cycle to obtain the effective crushing energy of the corresponding cycle, and multiply the arriving mass flow rate in each pair of energy consumption samples by the control cycle to obtain the arriving material mass of the corresponding cycle. When the number of samples reaches the length of the energy consumption window, the cumulative result of the mass of material arriving in each cycle within the window is not less than the product of the length of the energy consumption window and the mass resolution of a single cycle, and the difference between the maximum and minimum mass flow rates arriving within the window does not exceed the sum of the mass flow resolution and the maximum mass flow rate of the feeding mechanism divided by the length of the energy consumption window, the effective crushing energy and the mass of material arriving in each cycle within the window are accumulated respectively to obtain the cumulative effective crushing energy and the cumulative mass of material arriving. The cumulative effective crushing energy and the cumulative mass of material arriving are then compared to obtain the updated unit mass crushing energy consumption, and the energy consumption window reconstruction state is reset at the end of the current control cycle. When the energy consumption window is in the reconstruction state and has not yet formed an energy consumption window that meets the update conditions, the larger of the initial unit mass crushing energy consumption and the unit mass crushing energy consumption of the previous cycle shall be taken as the unit mass crushing energy consumption for reconstruction. When the energy consumption window is not in a rebuilding state and the current window does not meet the update conditions, maintain the unit mass crushing energy consumption of the previous cycle.

6. The method for controlling the feed rate of a biomass crusher according to claim 5, characterized in that, The generation of irreversible loads by combining material transport status and equipment constraints specifically includes: The mass flow resolution is obtained by multiplying the control cycle by the mass flow resolution. When the metering and transportation status is valid and the transportation side is not in the reconstruction status, the transportation distance before the material stops entering the crushing chamber is generated based on the moving distance of the effective material speed in one control cycle and the braking distance calculated according to the effective deceleration of the material. The upper limit constraint is imposed on the transportation distance from the weighing section to the inlet of the crushing chamber to obtain the length of the irreversible zone. Extract the overlap length between the spatial mass package and the irreversible zone, multiply each overlap length by the corresponding line mass, and summarize them into the material mass of the irreversible zone; Add the current effective material speed to the single-cycle speed increment corresponding to the maximum allowable acceleration of the conveyor belt, and constrain it according to the maximum speed of the conveyor belt to obtain the upper limit of the material speed in the next cycle; When the mass of material in the irreversible zone and the mass of material in transit both exceed the mass resolution of a single cycle, the maximum linear mass in the spatial mass packet that overlaps with the irreversible zone is extracted as the peak linear mass. The peak linear mass is multiplied by the upper limit of the material velocity in the next cycle and constrained according to the maximum mass flow rate of the feeding mechanism to obtain the peak arrival mass flow rate. When the material quality in the irreversible zone or the material quality in transit does not exceed the single-cycle quality resolution, the peak line quality and peak arrival quality flow rate are set to zero. When the metering and transportation status is invalid or the transportation side is in the reconstruction state, the irreversible zone length, irreversible zone material mass, peak line mass, upper limit of material velocity in the next cycle, and peak arrival mass flow rate are set to zero. When the crushing side state is valid, the continuous spindle mechanical power will be allowed to be subtracted from the current no-load spindle mechanical power, and the result will be subjected to non-negative boundary processing to obtain the continuous net crushing capacity. Calculate the rotor kinetic energy difference between the stabilized rotor angular velocity and the minimum allowable rotor angular velocity, perform non-negative boundary processing on the rotor kinetic energy difference to obtain the rotor releaseable mechanical energy, and convert the rotor releaseable mechanical energy into releaseable power according to the control cycle; Multiply the allowable mechanical torque of the spindle by the stabilized rotor angular velocity, subtract the allowable continuous spindle mechanical power, and perform non-negative boundary processing on the resulting difference to obtain the torque boundary residual power; The smaller value between the releasable power and the torque boundary residual power is taken as the short-term additional buffering capacity of the rotor. When the crushing side condition is invalid, the continuous net crushing capacity, rotor releaseable mechanical energy, releaseable power, torque boundary residual power and rotor short-term additional buffer capacity are set to zero. When both the metering and transportation states are valid, and the transportation side is not in a reconstruction state, the peak arrival mass flow rate is multiplied by the unit mass crushing energy consumption to obtain the expected peak crushing power. Extract the non-negative power portion of the expected peak crushing power that exceeds the sum of the continuous net crushing capacity and the rotor's short-term additional buffering capacity. Divide the non-negative power portion by the sum of the expected peak crushing power and the main shaft power resolution to obtain the overload ratio. When the metering and transportation status or the crushing side status is invalid, or when the transportation side is in the reconstruction status, the load over-limit ratio is set to the full-width over-limit ratio.

7. The method for controlling the feed rate of a biomass crusher according to claim 1, characterized in that, The method combines irreversible loads and equipment constraints to generate multiple types of mass flow rate limits, and corrects the mass flow rate by the signed difference between the allowed continuous spindle mechanical power and the current spindle-side mechanical output power, forming a power flow rate limit, specifically including: The ratio of spindle power resolution to the maximum mass flow rate of the feeding mechanism is used to obtain the energy consumption resolution per unit mass. In the first effective cycle of recovery on the crushing side, the current rotor angular velocity is used to reconstruct the stable rotor angular velocity. During the continuous effective control cycle on the crushing side, the difference between the current rotor angular velocity and the stable rotor angular velocity of the previous cycle is compared. When the difference is within the speed resolution range, the stable rotor angular velocity of the previous cycle is maintained. When the difference exceeds the speed resolution range, the current rotor angular velocity is used to update the stable rotor angular velocity. When the crushing side is effective, the mean value of the bearing housing vibration acceleration sample within a control cycle is obtained. The difference between each vibration sample and the mean value is calculated, and the square root of the square of the obtained difference is averaged and taken to obtain the real-time vibration root mean square. The continuous spindle mechanical power will be deducted from the current no-load spindle mechanical power. The resulting difference will be processed by non-negative boundary treatment. The power difference after non-negative boundary treatment will be divided by the larger of the unit mass crushing energy consumption and the unit mass energy consumption resolution. The total load mass flow rate will be obtained by constraining the maximum mass flow rate of the feeding mechanism. Calculate the relative position ratio of the stabilized rotor angular velocity within the range from the minimum allowable rotor angular velocity to the rated rotor angular velocity, apply a proportional effective range constraint to the relative position ratio, and multiply the constrained ratio by the total load mass flow rate to obtain the upper limit of the rotational speed flow rate; Calculate the remaining proportion of the real-time vibration root mean square relative to the unloaded reference vibration to the allowable vibration boundary interval, apply a proportional effective interval constraint to the remaining proportion, and multiply the constrained proportion by the total load mass flow rate to obtain the upper limit of vibration flow rate; When the crushing side condition is invalid, set the total load mass flow rate, the maximum speed flow rate, and the maximum vibration flow rate to zero; When both the metering and transportation states and the crushing side states are valid, and the transportation side is not in the reconstruction state, the continuous spindle mechanical power will be allowed to be reduced by the current spindle side mechanical output power. The positive and negative directions of the resulting power difference will be retained. The power difference will be divided by the larger of the unit mass crushing energy consumption and the unit mass energy consumption resolution to obtain the mass flow correction amount. The mass flow correction amount will be added to the current arriving mass flow to obtain the power constraint candidate mass flow. The power constraint candidate mass flow will be restricted to the range of zero to the total carrying mass flow to obtain the power flow upper limit. Subtract the load over-limit ratio from the full-width over-limit ratio to obtain the remaining ratio corresponding to the load over-limit ratio. Apply a zero to unit ratio range constraint to the remaining ratio. Multiply the total load mass flow rate by the constrained remaining ratio to obtain the upper limit of the irreversible load flow rate. When the metering and transportation status or the breakage side status is invalid, or when the transportation side is in the reconstruction status, the mass flow correction, power flow limit, and irreversible load flow limit are set to zero.

8. The method for controlling the feed rate of a biomass crusher according to claim 7, characterized in that, The step of obtaining the target mass flow rate by taking the minimum value among the upper limits of each mass flow rate specifically includes: When both the metering and transportation states are valid, and the transportation side is not in the reconstruction state, the minimum value extraction process is performed on the total load mass flow rate, power flow rate limit, speed flow rate limit, vibration flow rate limit, and irreversible load flow rate limit to obtain the original target mass flow rate. When the metering and transportation status or the crushing side status is invalid, or when the transportation side is in the reconstruction status, the original target mass flow rate and the target mass flow rate are set to zero. When the original target mass flow rate is not less than the target mass flow rate of the previous period, and the difference between the two does not exceed the mass flow rate resolution, the target mass flow rate of the previous period shall be maintained. When the original target mass flow rate decreases, or when the increase in the target mass flow rate relative to the previous cycle exceeds the mass flow rate resolution, the original target mass flow rate is used as the current target mass flow rate.

9. The method for controlling the feed rate of a biomass crusher according to claim 1, characterized in that, The process of obtaining the target mass flow rate by taking the minimum value among the upper limits of each mass flow rate, converting it into a target belt speed, and outputting inverter frequency commands or safety control status includes: When the metering and transportation status is valid and the transportation side is not in a reconstruction state, the larger of the current material line mass and the starting reference line mass is taken as the execution conversion reference line mass. When the metering and transportation status is invalid or the transportation side is in a reconstruction state, the starting reference line mass is taken as the execution conversion reference line mass. When both the conveyor belt speed feedback and the metering and transportation status are effective, and the transportation side is not in the reconstruction state, the effective material speed is divided by the larger of the actual conveyor belt speed and the conveyor belt speed resolution. The resulting ratio is constrained according to the ratio boundary defined by the minimum material movement ratio to the unit movement ratio to obtain the material movement ratio relative to the conveyor belt. If any of the aforementioned state conditions are not met, the minimum material movement ratio is taken as the material movement ratio relative to the conveyor belt. When the metering and transportation status is valid and the transportation side is not in the reconstruction state, the target mass flow rate is divided by the product of the mass of the conversion reference line and the material relative to the conveyor belt movement ratio, and constrained according to the conveyor belt speed boundary to obtain the target belt speed without dynamic boundary treatment. When the metering and transportation status is invalid or the transportation side is in the reconstruction state, the target belt speed without dynamic boundary treatment is set to zero. When the conveyor belt speed feedback is effective, the target belt speed without dynamic boundary processing is compared with the actual conveyor belt speed. Based on the comparison result, the maximum allowable acceleration or maximum allowable deceleration is selected. The speed command change is limited according to the control cycle. The speed holding zone is determined by the conveyor belt speed resolution and the drive dead zone. The conveyor belt speed command is generated. When the conveyor belt speed feedback is ineffective, the conveyor belt speed command is set to zero. The alarm lock status is updated based on the hardware safety loop status. When the hardware safety loop cannot be triggered, the alarm lock status is output and frequency writing is prohibited. When the alarm lock status has been triggered, the alarm lock status is maintained, frequency writing is not performed, and the internal record of the frequency command of the previous cycle is maintained. When the hardware safety circuit is triggerable and the alarm lockout state is not triggered, if the inverter command channel is valid and the conveyor belt speed feedback is valid, the conveyor belt speed command is converted into an inverter frequency command according to the conversion ratio between belt speed and inverter frequency and then written. If the inverter command channel is valid and the conveyor belt speed feedback is invalid, a zero frequency command is written. When the hardware safety circuit is triggerable, the alarm lockout state is not triggered, and the inverter command channel is invalid, frequency writing is not performed, the internal record of the frequency command of the previous cycle is maintained, and the hardware safety shutdown trigger state is output. The alarm lock state remains until the hardware safety circuit fault is eliminated, the transport section and crushing chamber are emptied and confirmed, and the system is manually maintained and reset, at which point the initial state settings are re-executed.

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