A grain pulverizer full-automatic control system and method for unmanned operation

Abstract

The present application relates to the technical field of automatic control of grain pulverizer, in particular to a full-automatic control system and method of grain pulverizer for unmanned operation, in the present application, sample operation data of the grain pulverizer are acquired to establish a set of working condition determination conditions, so that multiple working condition intervals, multi-dimensional combined conditions, allowed parameter adjustment ranges and multi-dimensional boundary conditions of target working condition intervals form controllable control basis; in unmanned operation, multi-dimensional combined condition matching is performed on real-time multi-dimensional operation state signal groups based on multi-dimensional combined conditions, the belonging working condition interval is determined and the current working condition parameter group is generated, then the deviation amount between the real-time multi-dimensional operation state signal group and the multi-dimensional boundary conditions of the target working condition interval is used to generate an execution mechanism control instruction group, and the multi-dimensional operation state signal group is iteratively corrected by updating, which helps the grain pulverizer to smoothly converge according to the overall operation state and maintain the expected processing state.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology for grain crushers, specifically to a fully automatic control system and method for grain crushers designed for unmanned operation. Background Technology

[0002] A grain crusher is a processing device that crushes grain materials to a set particle size. It typically includes feeding, crushing, and discharging mechanisms. Its operation can be characterized by multiple operating status signals, such as spindle speed, motor current, material level in the hopper, and the blockage status of the discharge channel. During processing, factors such as the moisture content, hardness, and feeding conditions of the material can cause changes in these operating status signals. Therefore, it is necessary to adjust the operating parameters of each actuator accordingly to maintain the equipment in the expected processing state.

[0003] In existing grain crusher control schemes, control is often implemented by setting a threshold for a certain operating status signal. For example, the motor current or load is monitored in real time. When the detected value exceeds the preset threshold, the feeding speed of the feeding mechanism is adjusted, and a control command is sent to the corresponding actuator according to the preset adjustment amount. Once the detected value falls back to the threshold range, the current operating parameters are maintained. This cycle is repeated to constrain the operating status of the equipment.

[0004] However, during the operation of a grain crusher, the various operating status signals are often interconnected and change simultaneously. Threshold-based control schemes focus on responding to individual operating status signals, making it difficult to make a consistent judgment on the overall operating status reflected by multiple operating status signals. The adjustment commands of various actuators are prone to conflict. At the same time, during the transition of the equipment from the current operating state to the expected processing state, the coordination between the adjustment action and the actual changes in the operating status signals is relatively loose, which can easily lead to repeated adjustments and state fluctuations. Under unmanned continuous operation conditions, it is difficult for the equipment to smoothly converge and maintain the expected processing state. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automatic control system and method for grain crushers for unmanned operation, in order to solve the problems mentioned in the background art. Specifically, it addresses the problem that in the prior art, it is difficult to achieve a smooth convergence and maintain the grain crusher in the expected processing state based on the overall operating state reflected by multiple operating status signals under unmanned continuous operation conditions.

[0006] To achieve the above objectives, one of the objectives of this invention is to provide a fully automatic control method for grain crushers designed for unmanned operation, comprising the following method steps:

[0007] S1. Obtain sample operating data of the grain crusher, and establish a set of operating condition judgment conditions based on the sample operating data. The set of operating condition judgment conditions includes multiple operating condition intervals, multi-dimensional combination conditions of each operating condition interval, allowable parameter adjustment range of each actuator corresponding to each operating condition interval, and multi-dimensional boundary conditions of the pre-set target operating condition interval.

[0008] The process of obtaining sample running data specifically includes:

[0009] The grain crusher is controlled to enter multiple preset working conditions in sequence. Under each preset working condition, the operating status signal is collected according to the sample sampling period to obtain multiple sample records. The operating status signals collected within the same sample sampling period are written into the same sample record.

[0010] Write the corresponding preset working condition identifier for each sample record, perform validity verification on the sample record, and mark the sample record as invalid when any operating status signal exceeds the corresponding acquisition range or the value of the discharge channel blockage is abnormal, and prohibit the invalid sample record from participating in the establishment of the working condition judgment condition set.

[0011] Stability screening is performed on valid sample records. The stability screening threshold is determined based on the average value and standard deviation of each numerical operating status signal under the same operating condition identifier in the valid sample records. Sample records with any numerical operating status signal exceeding the stability screening threshold are removed. Based on the sample record quantity threshold, it is determined whether to re-collect sample operating data under the operating condition, or to record the remaining sample records after removal as the sample operating data corresponding to the operating condition identifier.

[0012] The process of establishing the set of operating condition judgment criteria specifically includes:

[0013] The sample operation data are classified according to the operating condition identifier to obtain the sample record set corresponding to each operating condition identifier. For the sample record set corresponding to the same operating condition identifier, the lower boundary and upper boundary of each numerical operating status signal are calculated respectively. The lower boundary is the minimum effective value of the operating status signal in the sample record set, and the upper boundary is the maximum effective value of the operating status signal in the sample record set.

[0014] For the sample record set corresponding to the same working condition identifier, the status value of the discharge channel blockage is statistically analyzed. The status value that appears more frequently is determined as the status value of the discharge channel blockage. When the number of occurrences is equal, the status value of the discharge channel blockage is determined according to the preset status value of the working condition identifier.

[0015] Based on the boundary values ​​of the numerical operating status signals under the same operating condition identifier and the status values ​​of the material discharge channel blockage, multi-dimensional combination conditions for the corresponding operating condition intervals are generated. The allowable parameter adjustment ranges of each actuator are written for each operating condition interval, and the multi-dimensional boundary conditions of the pre-set target operating condition interval are written.

[0016] Multiple operating condition intervals, multi-dimensional combination conditions of each operating condition interval, allowable parameter adjustment ranges corresponding to each operating condition interval, and multi-dimensional boundary conditions of the target operating condition interval are written into the same operating condition judgment condition set, and an operating condition interval number is assigned to each operating condition interval.

[0017] Step S1 acquires sample operating data of the grain crusher and establishes a set of operating condition judgment conditions, which includes multiple operating condition intervals, multi-dimensional combination conditions of each operating condition interval, allowable parameter adjustment ranges of each actuator corresponding to each operating condition interval, and multi-dimensional boundary conditions of the pre-set target operating condition interval. This allows the historical operating status of the grain crusher to be organized into judgment criteria and parameter constraint criteria that can be called upon later. As a result, in the subsequent unmanned continuous operation, the control process no longer responds only to local thresholds, but can identify the overall operating status reflected by multiple operating status signals based on the set of operating condition judgment conditions, and provide interrelated boundary conditions and allowable parameter adjustment ranges for the generation of subsequent actuator control command groups.

[0018] S2. Obtain the real-time multi-dimensional operating status signal group of the grain crusher, perform multi-dimensional combination condition matching on the real-time multi-dimensional operating status signal group based on multi-dimensional combination conditions, determine the operating condition interval to which the real-time multi-dimensional operating status signal group belongs, and extract the allowable parameter adjustment range of each actuator corresponding to the operating condition interval from the allowable parameter adjustment range to generate the current operating condition parameter group.

[0019] The process of acquiring real-time multidimensional operating status signal groups specifically includes:

[0020] After the grain crusher enters unmanned operation mode, it collects real-time operating status signals according to the operating sampling cycle and performs boundary verification on the real-time operating status signals.

[0021] When any real-time operating status signal exceeds the corresponding acquisition range, or when the real-time discharge channel blockage status value is abnormal, a signal abnormality flag is generated, the control instruction group of the actuator in the previous cycle is maintained, the multi-dimensional combination condition matching in the current cycle is stopped, and the real-time operating status signal is re-acquired in the next operating sampling cycle.

[0022] When all real-time operating status signals pass the boundary check, each real-time operating status signal is written into the same data group to form a real-time multidimensional operating status signal group.

[0023] The execution process of multidimensional combination condition matching specifically includes:

[0024] Read the multidimensional combination conditions of each working condition interval in sequence according to the working condition interval number, calculate the matching flag between the real-time multidimensional operating status signal group and the multidimensional combination conditions of the working condition interval respectively, and determine the comprehensive matching value that represents whether the real-time multidimensional operating status signal group and the working condition interval are matched as a whole based on the matching flag of each dimension.

[0025] When only one operating condition interval matches the real-time multidimensional operating status signal group as a whole, that operating condition interval is determined as the operating condition interval to which it belongs; when two or more operating condition intervals match the real-time multidimensional operating status signal group as a whole, the normalized distance between the real-time multidimensional operating status signal group and each matching operating condition interval is calculated, and the operating condition interval with the smallest normalized distance is determined as the operating condition interval to which it belongs.

[0026] When no operating condition interval matches the real-time multidimensional operating status signal group as a whole, the normalized distance between the real-time multidimensional operating status signal group and each operating condition interval is calculated. The operating condition interval with the smallest normalized distance is determined as the operating condition interval and a nearest neighbor matching flag is generated. When the minimum comprehensive normalized distance is greater than the minimum comprehensive normalized distance judgment threshold, an operating condition abnormality flag is generated. The control command group of the actuator in the previous cycle is maintained, and the real-time multidimensional operating status signal group is reacquired in the next operating sampling cycle.

[0027] The process of generating the current operating condition parameter set specifically includes:

[0028] When the multi-dimensional combination conditions do not generate an abnormal operating condition flag, the allowable parameter adjustment range of each actuator is read according to the operating condition range to which it belongs;

[0029] When the read allowable parameter adjustment range exceeds the global value range of the corresponding control parameter, the lower limit and upper limit of the allowable parameter adjustment range are truncated according to the adjacent boundary truncation rule.

[0030] Record the allowable parameter adjustment range of each actuator after verification as the current operating condition parameter group.

[0031] Step S2 acquires the real-time multi-dimensional operating status signal group of the grain crusher, and performs multi-dimensional combination condition matching on the real-time multi-dimensional operating status signal group based on multi-dimensional combination conditions to determine the operating condition interval to which the real-time multi-dimensional operating status signal group belongs. Then, it extracts the allowable parameter adjustment range of each actuator corresponding to the operating condition interval from the allowable parameter adjustment range to generate the current operating condition parameter group. In this way, multiple currently acquired operating status signals can be uniformly mapped to the corresponding operating condition interval, and the determination of subsequent control parameters is constrained by the allowable parameter adjustment range corresponding to the current overall operating status, which helps to reduce the situation where the adjustment commands of each actuator conflict with each other.

[0032] S3. Read the allowable parameter adjustment range of each actuator in the current working condition parameter group, calculate the deviation between the real-time multidimensional operating status signal group and the multidimensional boundary conditions of the target working condition interval, and determine the control command parameter value of each actuator according to the deviation within the corresponding allowable parameter adjustment range, and generate the actuator control command group.

[0033] The calculation process for deviation includes the following:

[0034] Read the multidimensional boundary conditions of the target operating condition range and the real-time operating status signals, and calculate the deviation and deviation direction for each numerical operating status signal;

[0035] When the real-time operating status signal is within the corresponding target boundary, the deviation is recorded as no deviation and the deviation direction is recorded as within the target; when the real-time operating status signal is above the upper boundary of the corresponding target boundary, the deviation is recorded as the corresponding excess and the deviation direction is recorded as above the target; when the real-time operating status signal is below the lower boundary of the corresponding target boundary, the deviation is recorded as the corresponding excess and the deviation direction is recorded as below the target.

[0036] The deviation amount and direction are calculated for the real-time discharge channel blockage status. When the real-time discharge channel blockage status indicates that it is not blocked, the deviation direction is recorded as within the target. When the real-time discharge channel blockage status indicates that it is blocked, the deviation direction is recorded as the blockage status is abnormal.

[0037] Write the deviation amount and direction of each operating status signal into the deviation record.

[0038] The process of generating an actuator control instruction set specifically includes:

[0039] Read the current operating condition parameter group, deviation record and current actuator parameter value, and classify the deviation of each operating status signal into deviation levels according to the deviation in the deviation record and the deviation level classification threshold.

[0040] The number of adjustment steps for each actuator is determined based on the single-step adjustment amount of each actuator and the number of adjustment steps corresponding to each deviation level.

[0041] The control direction of the actuator is determined based on the deviation direction in the deviation record. When the same actuator corresponds to multiple control directions in the same cycle, the control direction is determined according to the safety priority order. When the same actuator has multiple adjustment step sizes in the same control direction in the same cycle, the largest adjustment step size is taken.

[0042] Candidate control parameters are obtained based on the current actuator parameter values, control direction, and adjustment step size. Boundary verification of the current operating condition parameter group is performed on the candidate control parameters according to the adjacent boundary truncation rule. The verified candidate control parameters are determined as the corresponding actuator control command parameter values. For actuators that have not generated control direction, the current actuator parameter values ​​are maintained and the boundary verification of the current operating condition parameter group is performed according to the adjacent boundary truncation rule. The verified current actuator parameter values ​​are determined as the corresponding actuator control command parameter values.

[0043] Write the control command parameter values ​​of each actuator into the same data group to generate the actuator control command group.

[0044] Step S3 reads the allowable parameter adjustment range of each actuator in the current operating condition parameter group, calculates the deviation between the real-time multidimensional operating status signal group and the multidimensional boundary conditions of the target operating condition interval, and determines the control command parameter value of each actuator according to the deviation within the corresponding allowable parameter adjustment range, thereby generating an actuator control command group. As a result, the actuator control command group is simultaneously constrained by the current operating condition interval and the target operating condition interval, and the adjustment direction and adjustment amplitude are matched with the deviation of multiple operating status signals from the expected processing state, which is conducive to the gradual transition of the grain crusher from the current overall operating state to the expected processing state.

[0045] S4. Send the control command group of the actuator to each actuator for execution, collect the updated multi-dimensional operating status signal group after execution, and use the updated multi-dimensional operating status signal group as the new round of real-time multi-dimensional operating status signal group to iteratively execute multi-dimensional combination condition matching until the updated multi-dimensional operating status signal group satisfies the multi-dimensional boundary conditions of the target operating condition range.

[0046] The specific process of updating the acquisition of the multidimensional operating status signal group includes:

[0047] After the actuator control command group is issued, it waits for the stabilization time. After the stabilization time is over, it collects each updated operating status signal according to the operating sampling cycle and writes them into the same data group to form an updated multi-dimensional operating status signal group.

[0048] Determine whether the updated multidimensional operating status signal group meets the multidimensional boundary conditions of the target operating condition range. If it does, generate a target satisfaction flag, stop the current round of adjustment, and maintain the current actuator parameter values.

[0049] When the conditions are not met, the multidimensional operating status signal group will be updated as a new round of real-time multidimensional operating status signal group and returned to the execution of multidimensional combination condition matching. When the maximum number of iterations is reached and the target satisfaction flag is still not generated, the adjustment non-convergence flag will be generated, and the actuator control instruction group obtained in the last round of iteration will be maintained.

[0050] Step S4 involves issuing the actuator control command group to each actuator for execution, collecting the updated multi-dimensional operating status signal group after execution, and using the updated multi-dimensional operating status signal group as the new round of real-time multi-dimensional operating status signal group to iteratively execute multi-dimensional combination condition matching until the updated multi-dimensional operating status signal group satisfies the multi-dimensional boundary conditions of the target operating condition range. Thus, based on the changes in multiple operating status signals after each round of adjustment, the operating condition range, the current operating condition parameter group, and the actuator control command group can be continuously corrected. This enables the control process to form a closed-loop iterative relationship from real-time status identification, deviation calculation, parameter constraint adjustment to status feedback update. This helps solve the problem in existing technologies where it is difficult to achieve stable convergence and maintain the grain crusher in the expected processing state based on the overall operating state reflected by multiple operating status signals under unmanned continuous operation conditions.

[0051] The second objective of this invention is to provide a system for a fully automatic control method of a grain crusher for unmanned operation, comprising a working condition modeling module, a working condition identification module, a control decision module, and a feedback adjustment module, wherein:

[0052] The working condition modeling module acquires sample operating data of the grain crusher and establishes a set of working condition judgment conditions based on the sample operating data. The set of working condition judgment conditions includes multiple working condition intervals, multi-dimensional combination conditions of each working condition interval, allowable parameter adjustment range of each actuator corresponding to each working condition interval, and multi-dimensional boundary conditions of the pre-set target working condition interval.

[0053] The working condition identification module acquires the real-time multi-dimensional operating status signal group of the grain crusher, performs multi-dimensional combination condition matching on the real-time multi-dimensional operating status signal group based on multi-dimensional combination conditions, determines the working condition interval to which the real-time multi-dimensional operating status signal group belongs, and extracts the allowable parameter adjustment range of each actuator corresponding to the working condition interval from the allowable parameter adjustment range to generate the current working condition parameter group.

[0054] The control decision module reads the allowable parameter adjustment range of each actuator in the current operating condition parameter group, calculates the deviation between the real-time multidimensional operating status signal group and the multidimensional boundary conditions of the target operating condition interval, and determines the control command parameter value of each actuator based on the deviation within the corresponding allowable parameter adjustment range, and generates the actuator control command group.

[0055] The feedback adjustment module sends the actuator control command group to each actuator for execution, collects the updated multi-dimensional operating status signal group after execution, and uses the updated multi-dimensional operating status signal group as a new round of real-time multi-dimensional operating status signal group to iteratively execute multi-dimensional combination condition matching until the updated multi-dimensional operating status signal group meets the multi-dimensional boundary conditions of the target operating condition range.

[0056] Compared with the prior art, the beneficial effects of the present invention are:

[0057] 1. Based on further analysis and research of existing technical problems, this invention recognizes that during unmanned continuous operation of a grain crusher, multiple operating status signals do not reflect the equipment status in isolation, but rather jointly characterize the overall operating status of the grain crusher. If the control process directly adjusts the actuator parameters based solely on local state changes, it is easy to cause a lack of continuous correlation between the adjustment action and the current overall operating status and target working condition range, thereby affecting the smooth transition of the grain crusher to the expected processing state.

[0058] Based on this, the present invention first acquires sample operating data of the grain crusher and establishes a set of operating condition judgment conditions based on the sample operating data. This allows multiple operating condition intervals, multi-dimensional combination conditions of each operating condition interval, allowable parameter adjustment ranges of each actuator corresponding to each operating condition interval, and multi-dimensional boundary conditions of a pre-set target operating condition interval to be incorporated into the same judgment and invocation system. In unmanned operation, the real-time multi-dimensional operating status signal set of the grain crusher is then acquired. Multi-dimensional combination condition matching is performed based on the multi-dimensional combination conditions to determine the operating condition interval to which the real-time multi-dimensional operating status signal set belongs, and the corresponding allowable parameter adjustment range is extracted to generate the current operating condition parameter set. Subsequently, the deviation between the real-time multi-dimensional operating status signal set and the multi-dimensional boundary conditions of the target operating condition interval is calculated, and an actuator control command set is generated under the constraints of the current operating condition parameter set. Then, iterative adjustment is performed by updating the multi-dimensional operating status signal set.

[0059] Therefore, the set of operating condition judgment conditions formed by the sample operation data can continuously participate in the identification of the corresponding operating condition interval, the generation of the current operating condition parameter group, and the determination of the control command group of the actuator during the real-time control stage. This enables the control process of the grain crusher to continuously judge and constrain the overall operating state reflected by multiple operating state signals, which helps to reduce the conflict between the adjustment commands of various actuators and promotes the grain crusher to converge more smoothly and maintain the expected processing state under unmanned continuous operation conditions.

[0060] 2. Based on the above control chain, this invention performs boundary verification on the real-time multi-dimensional operating status signal group, and determines the operating condition interval or stops the current cycle adjustment by using comprehensive matching value, normalized distance, nearest neighbor matching flag and operating condition abnormal flag during the multi-dimensional combination condition matching process; at the same time, when generating the current operating condition parameter group and actuator control command group, boundary verification is performed on the allowable parameter adjustment range and candidate control parameters according to the adjacent boundary truncation rule;

[0061] Therefore, the real-time multi-dimensional operating status signal group is subject to corresponding state validity and parameter boundary constraints at each stage from acquisition and matching to control parameter generation. This makes it easier to keep the adjustment process from the set of operating condition judgment conditions to the set of control instructions of the actuator within a range that is compatible with the current overall operating status. This further reduces the impact of abnormal signals or out-of-bounds parameters on the unmanned continuous operation adjustment process, which is conducive to improving the reliability of the grain crusher to converge smoothly and maintain the expected processing state. Attached Figure Description

[0062] Figure 1 This is a schematic diagram of the core process of the overall method steps of the present invention;

[0063] Figure 2 A schematic diagram of the core process for establishing the working condition determination set in step S1 of the present invention.

[0064] Figure 3 This is a schematic diagram of the core process of working condition matching in step S2 of the present invention;

[0065] Figure 4 This is a schematic diagram of the core process for generating control instructions in step S3 of the present invention;

[0066] Figure 5 This is a schematic diagram of the core process of iterative adjustment in step S4 of the present invention;

[0067] Figure 6 This is a schematic diagram of the overall module flow of the present invention.

[0068] In the diagram: 100, Working Condition Modeling Module; 200, Working Condition Identification Module; 300, Control Decision Module; 400, Feedback Adjustment Module. Detailed Implementation

[0069] The technical solutions in 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.

[0070] Next, please refer to Figure 1 One of the objectives of this embodiment is to provide a fully automatic control method for grain crushers for unmanned operation, including S1 to S4, wherein:

[0071] S1. Obtain sample operating data of the grain crusher and establish a set of operating condition judgment conditions based on the sample operating data;

[0072] S2. Obtain the real-time multi-dimensional operating status signal group of the grain crusher, perform multi-dimensional combination condition matching based on the multi-dimensional combination conditions in the working condition judgment condition set, determine the working condition interval to which the real-time multi-dimensional operating status signal group belongs, and generate the current working condition parameter group.

[0073] S3. Read the current operating condition parameter group, calculate the deviation between the real-time multi-dimensional operating status signal group and the multi-dimensional boundary conditions of the target operating condition range, and generate the actuator control command group within the corresponding allowable parameter adjustment range.

[0074] S4. Send the control command group of the actuator to each actuator for execution, collect the updated multi-dimensional operating status signal group after execution, and use the updated multi-dimensional operating status signal group as the new round of real-time multi-dimensional operating status signal group to iteratively execute multi-dimensional combination condition matching until the updated multi-dimensional operating status signal group satisfies the multi-dimensional boundary conditions of the target operating condition range.

[0075] In this embodiment, the actuators of the grain crusher include a feeding actuator, a crushing actuator, a screening actuator, a discharging actuator, and a load adjustment actuator; the corresponding control parameters are, in order, the feed opening, the crushing component speed parameter value, the screening channel opening, the discharge speed, and the output adjustment amount; the above control parameters each have a global value range, wherein the feed opening is 0% to 100%, the crushing component speed parameter value is 1800 r / min to 4200 r / min, the screening channel opening is 20% to 100%, the discharge speed is 50 kg / min to 350 kg / min, and the output adjustment amount is 40% to 100%; wherein the crushing component speed parameter value is the target speed setting value received by the crushing actuator.

[0076] In this embodiment, the operating status signals of the grain crusher include the driving motor operating current, the actual rotation speed of the crushing component, the crushing chamber temperature, the machine body vibration intensity, the feed rate per unit time, the discharge particle size, and the discharge channel blockage status; the corresponding acquisition ranges are 0A to 120A, 0r / min to 5000r / min, 0℃ to 120℃, 0mm / s to 30mm / s, 0kg / min to 500kg / min, 0.1mm to 5.0mm, and 0 or 1, respectively; where A represents amperes, r / min represents revolutions per minute, ℃ represents degrees Celsius, mm / s represents millimeters per second, kg / min represents kilograms per minute, mm represents millimeters, and s represents seconds; the actual rotation speed of the crushing component is the actual rotation speed acquired by the speed sensor; a discharge channel blockage status of 0 indicates no blockage, and a discharge channel blockage status of 1 indicates blockage.

[0077] In this embodiment, the seven operating status signals collected within the same sampling period constitute a multidimensional operating status signal group; during unmanned operation, the multidimensional operating status signal group collected in the current sampling period is the real-time multidimensional operating status signal group, and the multidimensional operating status signal group collected again after the execution of the actuator control command group is the updated multidimensional operating status signal group; the sample sampling period is preferably 1s, the operating sampling period is preferably 1s, the continuous acquisition time for each working condition is preferably 300s, the stabilization time is preferably 5s, and the maximum number of iterations is preferably 10 rounds.

[0078] In this embodiment, boundary verification is performed according to the adjacent boundary truncation rule. The adjacent boundary truncation rule is as follows: when the parameter value is lower than the lower limit of the corresponding range, the lower limit of the range is taken as the verified parameter value; when the parameter value is higher than the upper limit of the corresponding range, the upper limit of the range is taken as the verified parameter value; when the parameter value is within the corresponding range, the parameter value is kept unchanged.

[0079] The specific steps are as follows:

[0080] Please see Figure 2 S1. Obtain sample operating data of the grain crusher and establish a set of operating condition judgment conditions based on the sample operating data.

[0081] The process of obtaining sample running data specifically includes:

[0082] The preset operating conditions include no-load start-up, stable crushing, light-load crushing, heavy-load crushing, excessive feeding, poor discharge, crushing chamber heating, and abnormal vibration. Before the grain crusher is put into unmanned operation, the grain crusher is controlled to enter the above preset operating conditions in sequence.

[0083] Under each preset working condition, the operating status signal is collected at a sampling period of 1 second. Each preset working condition is continuously collected for 300 seconds to obtain 300 sample records. The driving motor operating current, actual speed of crushing parts, crushing chamber temperature, machine vibration intensity, feed rate per unit time, discharge particle size value and discharge channel blockage status collected within the same sampling period are written into the same sample record.

[0084] Write a corresponding preset working condition identifier for each sample record. The working condition identifier is used for subsequent sample operation data classification and working condition interval generation. Perform validity verification on 300 sample records collected under each preset working condition. When any operating status signal exceeds the corresponding collection range, or the discharge channel blockage status is not equal to 0 and not equal to 1, i.e. the value is abnormal, mark the sample record as an invalid sample record and prohibit the invalid sample record from participating in the establishment of the working condition judgment condition set.

[0085] Stability screening is performed on valid sample records. For each numerical operating status signal under the same operating condition identifier, the mean μ and standard deviation σ of the operating status signal in the valid sample records are calculated, where μ represents the sample mean and σ represents the sample standard deviation. When any numerical operating status signal in the same sample record is less than the dimension μ-3σ or greater than the dimension μ+3σ, the sample record is removed. When the number of removed sample records is less than 240, sample operating data under the same operating condition is re-collected. When the number of removed sample records is equal to 240 to 300, the remaining sample records are recorded as the sample operating data corresponding to the operating condition identifier.

[0086] The process of establishing the working condition judgment set includes the sample record classification process, the multi-dimensional combination condition generation process, the allowable parameter adjustment range writing process, the target working condition interval writing process, and the working condition judgment condition set writing process.

[0087] The sample record classification process specifically includes:

[0088] The sample operation data are classified according to the operating condition identifier to obtain the sample record set corresponding to each operating condition identifier;

[0089] For the sample record set corresponding to the same working condition identifier, calculate the lower and upper boundaries of the drive motor operating current, actual rotation speed of the crushing component, crushing chamber temperature, machine vibration intensity, feed rate per unit time, and discharge particle size value respectively.

[0090] The lower boundary is the minimum effective value of the operating status signal in the sample record set, and the upper boundary is the maximum effective value of the operating status signal in the sample record set. The boundary of the numerical operating status signal x is written as [xmin, xmax], where x represents any numerical operating status signal, xmin is the minimum effective value of the operating status signal, and xmax is the maximum effective value of the operating status signal.

[0091] The process of generating multidimensional combination conditions specifically includes:

[0092] For the sample record set corresponding to the same working condition identifier, the status value of the material discharge channel blockage is statistically analyzed.

[0093] When the number of occurrences of state value 0 is greater than the number of occurrences of state value 1, the state value of the material discharge channel blockage is set to 0; when the number of occurrences of state value 1 is greater than the number of occurrences of state value 0, the state value of the material discharge channel blockage is set to 1; when the number of occurrences of the two are equal, the state value of the material discharge channel blockage is determined according to the preset state value of the working condition identifier, wherein the preset state value of the unsmooth material discharge working condition is 1, and the preset state value of the other working conditions is 0;

[0094] Based on the working current boundary of the drive motor, the actual speed boundary of the crushing component, the temperature boundary of the crushing chamber, the vibration intensity boundary of the machine body, the feed rate per unit time, the discharge particle size boundary, and the state value of the discharge channel blockage under the same working condition, multi-dimensional combination conditions for the corresponding working condition interval are generated.

[0095] The process of allowing parameter adjustment range writing specifically includes:

[0096] Write the allowable parameter adjustment range for no-load start-up conditions: feed opening 0% to 20%, crushing component speed parameter value 1800r / min to 2600r / min, screening channel opening 60% to 100%, discharge speed 50kg / min to 120kg / min, output adjustment amount 40% to 60%;

[0097] To stabilize the crushing operation, the following allowable parameter adjustment ranges are specified: feed opening 35% to 65%, crushing component speed 2800 r / min to 3600 r / min, screening channel opening 45% to 75%, discharge speed 140 kg / min to 260 kg / min, and output adjustment 60% to 85%.

[0098] For light-load crushing conditions, the allowable parameter adjustment range is specified as follows: feed opening 20% ​​to 45%, crushing component speed parameter value 2600r / min to 3400r / min, screening channel opening 50% to 85%, discharge speed 100kg / min to 220kg / min, and output adjustment amount 50% to 75%.

[0099] For heavy-duty crushing conditions, the allowable parameter adjustment range is set as follows: feed opening 45% to 75%, crushing component speed parameter value 3000r / min to 3800r / min, screening channel opening 40% to 70%, discharge speed 180kg / min to 300kg / min, and output adjustment amount 70% to 95%.

[0100] For the overfeed condition, the allowable parameter adjustment range is set as follows: feed opening 20% ​​to 55%, crushing component speed parameter value 2800r / min to 3800r / min, screening channel opening 40% to 75%, discharge speed 180kg / min to 320kg / min, and output adjustment amount 75% to 100%.

[0101] For conditions of poor material discharge, the following allowable parameter adjustment ranges are specified: feed opening 10% to 45%, crushing component speed 2600 r / min to 3400 r / min, screening channel opening 50% to 90%, discharge speed 220 kg / min to 350 kg / min, and output adjustment 70% to 100%.

[0102] The allowable parameter adjustment range for the heating condition of the crushing chamber is as follows: feed opening 10% to 50%, crushing component speed parameter value 2400r / min to 3300r / min, screening channel opening 50% to 90%, discharge speed 200kg / min to 340kg / min, and output adjustment amount 60% to 90%.

[0103] For abnormal vibration conditions, the following allowable parameter adjustment ranges are specified: feed opening 0% to 35%, crushing component speed parameter value 1800r / min to 3000r / min, screening channel opening 60% to 100%, discharge speed 120kg / min to 280kg / min, and output adjustment amount 40% to 75%.

[0104] The target operating condition range writing process specifically includes:

[0105] Write multi-dimensional boundary conditions for the pre-defined target operating condition range;

[0106] The multidimensional boundary conditions for the target operating range are as follows: target drive motor operating current boundary 45A to 65A, target actual rotation speed boundary of crushing component 3000r / min to 3400r / min, target crushing chamber temperature boundary 35℃ to 55℃, target machine body vibration intensity boundary 0mm / s to 8mm / s, target feed rate per unit time boundary 160kg / min to 240kg / min, target discharge particle size boundary 0.8mm to 1.2mm, and target discharge channel blockage boundary 0.

[0107] The process of writing the working condition determination set specifically includes:

[0108] Multiple operating condition intervals, multi-dimensional combination conditions of each operating condition interval, allowable parameter adjustment ranges corresponding to each operating condition interval, and multi-dimensional boundary conditions of the target operating condition interval are written into the same operating condition judgment condition set.

[0109] Assign a working condition interval number to each working condition interval, and write the working condition interval numbers sequentially according to the preset working condition arrangement order.

[0110] Please see Figure 3 S2. Obtain the real-time multi-dimensional operating status signal group of the grain crusher. Based on the multi-dimensional combination conditions in the working condition judgment condition set, perform multi-dimensional combination condition matching on the real-time multi-dimensional operating status signal group to determine the working condition interval to which the real-time multi-dimensional operating status signal group belongs. Extract the allowable parameter adjustment range corresponding to the working condition interval from the allowable parameter adjustment range to generate the current working condition parameter group.

[0111] The process of acquiring real-time multidimensional operating status signal groups specifically includes:

[0112] After the grain crusher enters the unmanned operation state, it collects real-time operating status signals according to the 1-second operating sampling cycle; within the same operating sampling cycle, it reads the real-time drive motor operating current, real-time actual speed of crushing components, real-time crushing chamber temperature, real-time machine vibration intensity, real-time feed rate per unit time, real-time discharge particle size value, and real-time discharge channel blockage status.

[0113] The above real-time operating status signals are the collected values ​​of the corresponding operating status signals within the current operating sampling period;

[0114] Boundary verification is performed on the real-time operating status signals. When any real-time operating status signal exceeds the corresponding acquisition range, or when the real-time discharge channel blockage status is not equal to 0 and not equal to 1, i.e. when the value is abnormal, a signal abnormality flag is generated, the cause of the signal abnormality is written into the status record, the actuator control instruction group of the previous cycle is maintained, the multi-dimensional combination condition matching of the current cycle is stopped, the generation of the current working condition parameter group, deviation and actuator control instruction group is prohibited in the current cycle, and the process of acquiring the real-time multi-dimensional operating status signal group is re-executed in the next operating sampling cycle.

[0115] When all real-time operating status signals pass the boundary verification, the real-time drive motor operating current, real-time actual rotation speed of the crushing component, real-time crushing chamber temperature, real-time machine body vibration intensity, real-time feed rate per unit time, real-time discharge particle size value, and real-time discharge channel blockage status are written into the same data group to form a real-time multi-dimensional operating status signal group.

[0116] The execution process of multidimensional combined condition matching includes the matching flag calculation process, the comprehensive matching value calculation process, the normalized distance calculation process, the determination of the relevant working condition interval, and the abnormal matching handling process.

[0117] The matching flag calculation process specifically includes:

[0118] Based on the set of working condition judgment conditions obtained in step S1, read the multi-dimensional combination conditions of each working condition interval in sequence according to the working condition interval number.

[0119] For the currently read operating condition interval, calculate the matching flag between the real-time multidimensional operating status signal group and the multidimensional combination conditions of the operating condition interval;

[0120] For a numerical operating status signal x, when x is greater than or equal to the corresponding lower boundary limit and less than or equal to the corresponding upper boundary limit, the matching flag for this dimension is recorded as 1; when x is less than the corresponding lower boundary limit or x is greater than the corresponding upper boundary limit, the matching flag for this dimension is recorded as 0.

[0121] For the discharge channel blockage status, when the real-time discharge channel blockage status is equal to the discharge channel blockage status value of the working condition interval, the dimension matching flag is recorded as 1; when the two are not equal, the dimension matching flag is recorded as 0.

[0122] The comprehensive matching value calculation process specifically includes:

[0123] Calculate the comprehensive matching value M of the currently read operating condition range;

[0124] M represents the overall matching result between the real-time multi-dimensional operating status signal group and the current operating condition range. The calculation formula is M = m1 × m2 × m3 × m4 × m5 × m6 × m7, where m1 is the matching indicator of the driving motor operating current, m2 is the matching indicator of the actual speed of the crushing component, m3 is the matching indicator of the crushing chamber temperature, m4 is the matching indicator of the machine body vibration intensity, m5 is the matching indicator of the feed rate per unit time, m6 is the matching indicator of the discharge particle size value, and m7 is the matching indicator of the blockage status of the discharge channel.

[0125] The normalized distance calculation process specifically includes:

[0126] For numerical operating status signals, first calculate the center value of the operating condition interval c = (a + b) / 2, where c represents the center value of the operating condition interval in this dimension, a is the lower limit of the boundary of this dimension, and b is the upper limit of the boundary of this dimension.

[0127] When b-a is greater than 0, the normalized distance of the i-th dimension is di = |x-c| / (b-a), where i represents the dimension index, which is from 1 to 7, and di represents the degree of normalization deviation of the i-th dimension.

[0128] When b - a equals 0 and x equals c, di is recorded as 0; when b - a equals 0 and x does not equal c, di is recorded as 1.

[0129] When the blockage status of the discharge channels is consistent, the corresponding dimension's di is 0; when they are inconsistent, the corresponding dimension's di is 1.

[0130] The comprehensive normalized distance D = d1 + d2 + d3 + d4 + d5 + d6 + d7, where d1 to d7 represent the normalized distances of the dimensions corresponding to the driving motor operating current, actual rotation speed of the crushing components, crushing chamber temperature, machine vibration intensity, feed rate per unit time, discharge particle size, and discharge channel blockage status, respectively.

[0131] The process of determining the applicable operating condition range specifically includes:

[0132] When the comprehensive matching value M of only one operating condition interval is equal to 1, the operating condition interval is determined as the operating condition interval to which the real-time multi-dimensional operating status signal group belongs.

[0133] When the comprehensive matching value M of two or more operating condition intervals is equal to 1, the normalized distance D between the real-time multidimensional operating status signal group and the center value of each matching operating condition interval is calculated according to the normalized distance calculation process, and the operating condition interval with the smallest D is determined as the operating condition interval.

[0134] When D is equal in two or more matching working condition intervals, the normalized distances of the corresponding dimensions are compared in the priority order of discharge channel blockage status, machine body vibration intensity, crushing chamber temperature, drive motor operating current, feed rate per unit time, discharge particle size value, and actual rotation speed of crushing components. The working condition interval that first appears with the smaller normalized distance in the priority order is determined as the working condition interval.

[0135] The anomaly matching process specifically includes:

[0136] When the comprehensive matching value of all operating condition intervals is equal to 0, the normalized distance D between the real-time multi-dimensional operating status signal group and the center value of each operating condition interval is calculated according to the normalized distance calculation process.

[0137] The working condition interval with the smallest comprehensive normalized distance D is determined as the working condition interval, and a nearest neighbor matching flag is generated at the same time.

[0138] When the minimum integrated normalized distance D is greater than 3.5, an abnormal operating condition flag is generated, the execution status of the actuator control command group in the previous cycle is maintained, step S3 of the current cycle is stopped, the generation of new actuator control command groups in the current cycle is prohibited, and the real-time multidimensional operating status signal group is reacquired in the next operating sampling cycle.

[0139] The process of generating the current operating condition parameter set specifically includes:

[0140] When the multi-dimensional combination conditions do not generate an abnormal working condition flag, the corresponding allowable parameter adjustment range is read from the working condition judgment condition set obtained in step S1 according to the working condition interval to which it belongs.

[0141] Read the feed opening range, crushing component speed parameter range, screening channel opening range, discharge speed range, and output adjustment range;

[0142] When the read allowable parameter adjustment range exceeds the global value range of the corresponding control parameter, the lower and upper limits of the allowable parameter adjustment range are truncated according to the adjacent boundary truncation rule, so that the feed opening range is within 0% to 100%, the crushing component speed parameter value range is within 1800 r / min to 4200 r / min, the screening channel opening range is within 20% to 100%, the discharge speed range is within 50 kg / min to 350 kg / min, and the output adjustment range is within 40% to 100%.

[0143] Record the verified feed opening range, crushing component speed parameter range, screening channel opening range, discharge speed range, and output adjustment range as the current operating condition parameter group; the current operating condition parameter group includes the feed opening range, crushing component speed parameter range, screening channel opening range, discharge speed range, and output adjustment range corresponding to the current operating condition interval.

[0144] Please see Figure 4 S3. Read the allowable parameter adjustment range of each actuator in the current working condition parameter group, calculate the deviation between the real-time multi-dimensional operating status signal group and the multi-dimensional boundary conditions of the target working condition interval, and determine the control command parameter value of each actuator according to the deviation within the corresponding allowable parameter adjustment range, and generate the actuator control command group.

[0145] The process of calculating deviation includes target boundary reading, numerical deviation calculation, blockage state deviation calculation, and deviation record writing.

[0146] The target boundary reading process specifically includes:

[0147] Based on the set of working condition judgment conditions obtained in step S1, read the multidimensional boundary conditions of the target working condition interval;

[0148] Based on the real-time multi-dimensional operating status signal group obtained in step S2, each real-time operating status signal is read; among them, the driving motor operating current, actual rotation speed of the crushing component, crushing chamber temperature, machine vibration intensity, feed rate per unit time and discharge particle size are numerical operating status signals, and the real-time discharge channel blockage status is a status-type operating status signal.

[0149] The specific process of calculating numerical deviation includes:

[0150] For each numerical operating status signal, such as the operating current of the drive motor, the actual speed of the crushing component, the temperature of the crushing chamber, the vibration intensity of the machine body, the feed rate per unit time, and the output particle size, the deviation amount e and the deviation direction are calculated respectively.

[0151] e represents the amount by which the real-time operating status signal exceeds the multidimensional boundary conditions of the target operating range; the target boundary [L, U] is the boundary of the corresponding dimension in the multidimensional boundary conditions of the target operating range, where L represents the lower limit of the target boundary and U represents the upper limit of the target boundary; the lower limit of the target boundary L is also called the lower boundary of the corresponding target boundary, and the upper limit of the target boundary U is also called the upper boundary of the corresponding target boundary.

[0152] When the real-time operating status signal x is within the target boundary [L, U], the deviation e = 0, which is recorded as no deviation, and the direction of deviation is recorded as within the target; when x is greater than U, that is, when the real-time operating status signal is higher than the upper boundary of the corresponding target boundary, the deviation e = x - U, and the direction of deviation is recorded as higher than the target; when x is less than L, that is, when the real-time operating status signal is lower than the lower boundary of the corresponding target boundary, the deviation e = L - x, and the direction of deviation is recorded as lower than the target.

[0153] The calculation process for the blockage status deviation includes:

[0154] The deviation amount and direction of the real-time discharge channel blockage status are calculated; the real-time discharge channel blockage status is represented by 0 and 1, where 0 indicates no blockage and 1 indicates blockage.

[0155] When the real-time discharge channel blockage status is equal to the target discharge channel blockage status boundary 0, that is, when the real-time discharge channel blockage status indicates no blockage, the discharge channel blockage status deviation is recorded as 0, that is, no deviation, and the deviation direction is recorded as inside the target.

[0156] When the real-time discharge channel blockage status is equal to 1, that is, when the real-time discharge channel blockage status indicates blockage, the discharge channel blockage status deviation is recorded as 1, and the deviation direction is recorded as abnormal blockage status.

[0157] The process of writing deviation records specifically includes:

[0158] Write the deviation of the drive motor operating current, the actual speed deviation of the crushing component, the temperature deviation of the crushing chamber, the vibration intensity deviation of the machine body, the feed rate deviation per unit time, the particle size deviation of the discharge, the blockage status deviation of the discharge channel, and the direction of each deviation into the deviation record.

[0159] The process of generating an actuator control instruction set specifically includes:

[0160] Read the current operating condition parameter group, deviation record, and current actuator parameter value generated in step S2; the current actuator parameter value includes the current feed opening, current crushing component speed parameter value, current screening channel opening, current discharge speed, and current output adjustment amount; the current actuator parameter value is the set value currently held by each actuator, and the sensor measured value is not used as a substitute;

[0161] The process of generating the actuator control instruction group includes the process of determining the deviation level, the process of setting the adjustment step size, the process of determining the actuator control direction, the process of generating candidate control parameters, the process of determining the control instruction parameter values, and the process of writing the actuator control instruction group.

[0162] The process of determining the deviation level specifically includes:

[0163] Based on the deviation records, the deviations corresponding to each operating status signal are divided into the first deviation level, the second deviation level, or the third deviation level.

[0164] The deviation of the drive motor operating current is classified as follows: when it is greater than 0A and less than or equal to 5A, it is classified as the first deviation level; when it is greater than 5A and less than or equal to 15A, it is classified as the second deviation level; and when it is greater than 15A, it is classified as the third deviation level.

[0165] When the actual rotational speed deviation of the crushing component is greater than 0 r / min and less than or equal to 100 r / min, it is classified as the first deviation level; when it is greater than 100 r / min and less than or equal to 300 r / min, it is classified as the second deviation level; and when it is greater than 300 r / min, it is classified as the third deviation level.

[0166] The temperature deviation of the grinding chamber is classified as follows: the first deviation level is when it is greater than 0℃ and less than or equal to 5℃; the second deviation level is when it is greater than 5℃ and less than or equal to 15℃; and the third deviation level is when it is greater than 15℃.

[0167] The first deviation level is when the body vibration intensity deviation is greater than 0 mm / s and less than or equal to 2 mm / s; the second deviation level is when it is greater than 2 mm / s and less than or equal to 6 mm / s; and the third deviation level is when it is greater than 6 mm / s.

[0168] The deviation of the feed rate per unit time is classified as follows: the first deviation level is when it is greater than 0 kg / min and less than or equal to 20 kg / min; the second deviation level is when it is greater than 20 kg / min and less than or equal to 60 kg / min; and the third deviation level is when it is greater than 60 kg / min.

[0169] The first deviation level is when the deviation of the output particle size is greater than 0 mm and less than or equal to 0.2 mm; the second deviation level is when it is greater than 0.2 mm and less than or equal to 0.6 mm; and the third deviation level is when it is greater than 0.6 mm.

[0170] When the deviation of the material discharge channel blockage is 1, it is the third deviation level.

[0171] The process of adjusting the step size specifically includes:

[0172] Set the single-step adjustment amount for each actuator; the single-step adjustment amount for the feed opening is 5%, the single-step adjustment amount for the crushing component speed parameter is 100 r / min, the single-step adjustment amount for the screening channel opening is 5%, the single-step adjustment amount for the discharge speed is 20 kg / min, and the single-step adjustment amount for the output adjustment is 5%.

[0173] The number of adjustment steps is determined based on the deviation level; the first deviation level corresponds to 1 adjustment step, the second deviation level corresponds to 2 adjustment steps, and the third deviation level corresponds to 3 adjustment steps.

[0174] The process of determining the direction of control of the actuator specifically includes:

[0175] Determine the control direction of the actuator based on the direction of deviation;

[0176] When the direction of the drive motor operating current deviation is higher than the target, and the direction of the feed rate deviation per unit time is higher than the target, the feed actuator control direction is to reduce the feed opening, and the load adjustment actuator control direction is to increase the output adjustment amount.

[0177] When the direction of the drive motor operating current deviation is lower than the target, and the direction of the feed rate deviation per unit time is lower than the target, the control direction of the feeding actuator is to increase the feed opening.

[0178] When the actual rotational speed deviation of the crushing component is lower than the target and the deviation of the drive motor operating current is 0, the control direction of the crushing actuator is to increase the rotational speed parameter value of the crushing component.

[0179] When the actual rotational speed deviation of the crushing component is higher than the target, the crushing actuator controls the direction of reducing the rotational speed parameter value of the crushing component.

[0180] When the deviation of the discharge particle size value is higher than the target, the screening actuator is controlled to reduce the opening of the screening channel, and the crushing actuator is controlled to increase the rotation speed parameter of the crushing component.

[0181] When the deviation of the discharge particle size is lower than the target, the control direction of the screening actuator is to increase the opening of the screening channel;

[0182] When the temperature deviation of the crushing chamber is higher than the target, the feeding actuator controls the feeding opening to decrease, and the discharging actuator controls the discharging speed to increase.

[0183] When the temperature deviation direction of the grinding chamber is lower than the target, the control direction is not generated based on the temperature deviation direction of the grinding chamber;

[0184] When the direction of the machine body vibration intensity deviation is higher than the target, the control direction of the crushing actuator is to reduce the speed parameter value of the crushing component, and the control direction of the feeding actuator is to reduce the feeding opening.

[0185] When the direction of the body vibration intensity deviation is lower than the target, the control direction is not generated based on the direction of the body vibration intensity deviation.

[0186] When the direction of the material discharge channel blockage is abnormal, the control direction of the material discharge actuator is to increase the material discharge speed, and the control direction of the material feed actuator is to decrease the material feed opening.

[0187] When the same actuator corresponds to multiple control directions in the same cycle, the control direction is determined according to the safety priority order; the safety priority order is as follows: discharge channel blockage status, machine body vibration intensity, crushing chamber temperature, drive motor operating current, discharge particle size, actual rotation speed of crushing components, and feed rate per unit time.

[0188] When the same actuator has multiple adjustment step sizes in the same control direction within the same cycle, the largest adjustment step size is selected.

[0189] The process of generating candidate control parameters specifically includes:

[0190] Candidate control parameters are obtained based on the current actuator parameter values, control direction, and adjustment step size; these candidate control parameters are temporary parameters before boundary verification.

[0191] When the feed opening decreases, the candidate feed opening is equal to the current feed opening minus the adjustment step size multiplied by 5%; when the feed opening increases, the candidate feed opening is equal to the current feed opening plus the adjustment step size multiplied by 5%.

[0192] When the rotational speed parameter of the crushing component increases, the candidate rotational speed parameter value is equal to the current rotational speed parameter value plus the number of adjustment steps multiplied by 100 r / min; when the rotational speed parameter value of the crushing component decreases, the candidate rotational speed parameter value is equal to the current rotational speed parameter value minus the number of adjustment steps multiplied by 100 r / min.

[0193] When the screening channel opening decreases, the candidate screening channel opening is equal to the current screening channel opening minus the adjustment step size multiplied by 5%; when the screening channel opening increases, the candidate screening channel opening is equal to the current screening channel opening plus the adjustment step size multiplied by 5%.

[0194] When the discharge speed is increased, the candidate discharge speed is equal to the current discharge speed plus the number of adjustment steps multiplied by 20 kg / min; when the discharge speed is decreased, the candidate discharge speed is equal to the current discharge speed minus the number of adjustment steps multiplied by 20 kg / min.

[0195] When the output adjustment amount is increased, the candidate output adjustment amount is equal to the current output adjustment amount plus the adjustment step size multiplied by 5%; when the output adjustment amount is decreased, the candidate output adjustment amount is equal to the current output adjustment amount minus the adjustment step size multiplied by 5%.

[0196] The process of determining the values ​​of control command parameters specifically includes:

[0197] Perform boundary verification of the current operating condition parameter group on the candidate control parameters according to the adjacent boundary truncation rule;

[0198] The verified feed opening is determined as the feed opening parameter value, the verified crushing component speed parameter value is determined as the crushing component speed parameter value, the verified screening channel opening is determined as the screening channel opening parameter value, the verified discharge speed is determined as the discharge speed parameter value, and the verified output adjustment amount is determined as the output adjustment amount parameter value.

[0199] For actuators that do not generate control direction, maintain the current actuator parameter value, and perform boundary verification of the current operating condition parameter group on the current actuator parameter value according to the adjacent boundary truncation rule. The verified current actuator parameter value is determined as the corresponding actuator control command parameter value.

[0200] The process of writing the actuator control instruction set specifically includes:

[0201] Write the feed opening parameter value, crushing component speed parameter value, screening channel opening parameter value, discharge speed parameter value, and output adjustment parameter value into the same data group to generate the actuator control command group;

[0202] The actuator control instruction group consists of five actuator control instruction parameter values.

[0203] Please see Figure 5 S4. Distribute the actuator control command group to each actuator for execution, collect the updated multi-dimensional operating status signal group after execution, and use the updated multi-dimensional operating status signal group as the basis for iterative execution of multi-dimensional combination condition matching in the new round of real-time multi-dimensional operating status signal group until the updated multi-dimensional operating status signal group satisfies the multi-dimensional boundary conditions of the target operating condition range, specifically including:

[0204] The instruction issuance process specifically includes:

[0205] The actuator control command group generated in step S3 is sent to the feeding actuator, crushing actuator, screening actuator, discharging actuator and load adjustment actuator;

[0206] The feeding actuator adjusts the opening of the feeding channel according to the feeding opening parameter value; the crushing actuator adjusts the actual speed of the crushing component according to the crushing component speed parameter value; the screening actuator adjusts the opening of the screening channel according to the screening channel opening parameter value; the discharge actuator adjusts the discharge speed according to the discharge speed parameter value; and the load adjustment actuator adjusts the output state of the drive motor according to the output adjustment parameter value.

[0207] The specific process of updating the acquisition of the multidimensional operating status signal group includes:

[0208] After the actuator control command group is issued, wait for 5 seconds for stabilization.

[0209] After the stabilization period ends, the following data are collected and updated according to a 1-second sampling cycle: drive motor operating current, actual rotation speed of crushing components, crushing chamber temperature, machine vibration intensity, feed rate per unit time, discharge particle size, and discharge channel blockage status.

[0210] The updated drive motor operating current, updated actual rotation speed of the crushing component, updated crushing chamber temperature, updated machine vibration intensity, updated feed rate per unit time, updated discharge particle size, and updated discharge channel blockage status are written into the same data group to form an updated multi-dimensional operating status signal group.

[0211] The process of determining whether a target is met specifically includes:

[0212] Determine whether the updated multidimensional operating status signal group satisfies the multidimensional boundary conditions of the target operating condition range;

[0213] When the updated drive motor operating current is between 45A and 65A, the updated actual rotation speed of the updated crushing component is between 3000r / min and 3400r / min, the updated crushing chamber temperature is between 35℃ and 55℃, the updated machine body vibration intensity is between 0mm / s and 8mm / s, the updated feed rate per unit time is between 160kg / min and 240kg / min, the updated discharge particle size is between 0.8mm and 1.2mm, and the updated discharge channel blockage status is equal to 0, a target satisfaction flag is generated, the current adjustment cycle is stopped, and the current actuator parameters are maintained.

[0214] The iterative adjustment process specifically includes:

[0215] When the updated multidimensional operating status signal group does not meet the multidimensional boundary conditions of the target operating condition range, the updated multidimensional operating status signal group will be used as a new round of real-time multidimensional operating status signal group, and the process will return to step S2 to perform multidimensional combination condition matching.

[0216] If the target satisfaction flag is not generated after 10 consecutive iterations, an adjustment non-convergence flag is generated, written to the status record, and the actuator control command group obtained in the 10th iteration is retained.

[0217] In this embodiment, the thresholds involved are as follows:

[0218] Stability screening thresholds, namely μ-3σ and μ+3σ;

[0219] The threshold for the number of sample records is a minimum of 240 and a maximum of 300 records after removal.

[0220] The deviation level classification thresholds are as follows: 5A and 15A for the drive motor operating current deviation, 100r / min and 300r / min for the actual rotational speed deviation of the crushing component, 5℃ and 15℃ for the crushing chamber temperature deviation, 2mm / s and 6mm / s for the machine body vibration intensity deviation, 20kg / min and 60kg / min for the feed rate per unit time deviation, and 0.2mm and 0.6mm for the discharge particle size deviation.

[0221] The threshold for determining the minimum integrated normalized distance D is 3.5.

[0222] The sample sampling period is 1 second, the running sampling period is 1 second, the continuous acquisition time is 300 seconds, the stabilization time is 5 seconds, and the maximum number of iterations is 10 rounds.

[0223] In this embodiment, the coefficients involved include:

[0224] The single-step adjustment amounts for each actuator are as follows: 5% for the feed opening, 100 r / min for the crushing component speed parameter, 5% for the screening channel opening, 20 kg / min for the discharge speed, and 5% for the output adjustment.

[0225] The number of adjustment steps corresponding to each deviation level is as follows: the first deviation level corresponds to 1 adjustment step, the second deviation level corresponds to 2 adjustment steps, and the third deviation level corresponds to 3 adjustment steps.

[0226] The coefficient of the center value c of the working condition interval is (a+b) / 2, which is the sum of the lower boundary limit a and the upper boundary limit b, and is taken as half.

[0227] In this embodiment, the value ranges of the above thresholds and coefficients and the basis for their determination are as follows:

[0228] The stability screening thresholds μ-3σ and μ+3σ are dynamically determined according to the average value μ and standard deviation σ of the sample operation data. The values ​​vary with the distribution of numerical operation status signals under each operating condition, and are used to remove sample records that deviate from the sample distribution.

[0229] The threshold of 240 to 300 sample records is determined by 300 sample records obtained by continuously collecting data for 300 seconds under each preset working condition with a sample sampling period of 1 second. The lower limit of 240 records is 80% of the 300 sample records, which is used to ensure that there are enough valid sample records to participate in the establishment of the working condition judgment condition set.

[0230] The deviation level classification thresholds are located within the acquisition range of the corresponding operating status signals, and are classified into first deviation level, second deviation level and third deviation level according to the allowable excess of each operating status signal relative to the multidimensional boundary conditions of the target operating condition range, from small to large, to distinguish the magnitude of the deviation.

[0231] The minimum integrated normalized distance D has a judgment threshold of 3.5, which is within the range of 0 to 7. It is used to determine whether the real-time multidimensional operating status signal group deviates too far from all operating conditions when the integrated matching value of all operating conditions is equal to 0.

[0232] The sample sampling period of 1s, the running sampling period of 1s, the continuous acquisition time of 300s, the stabilization time of 5s, and the maximum number of iterations of 10 rounds are determined based on the acquisition rate of the operating status signal of the grain crusher and the stabilization time required after the adjustment of the actuator. The stabilization time of 5s is used to wait for the operating status signal of each actuator to tend to stabilize after adjustment, and the maximum number of iterations of 10 rounds is used to limit the number of iterations in a single adjustment.

[0233] The single-step adjustment amounts of 5%, 100r / min, 5%, 20kg / min and 5% of each actuator are located within the global range of the corresponding control parameters and are determined according to the single adjustable range of each actuator. They are used to adjust the corresponding control parameters step by step according to the number of adjustment steps.

[0234] The number of adjustment steps 1, 2, and 3 corresponding to each deviation level are one-to-one with the first deviation level, the second deviation level, and the third deviation level, and are used to make the adjustment amplitude increase as the deviation increases.

[0235] The half coefficient in the working condition interval center value c = (a + b) / 2 is a fixed value, used to take the midpoint of the lower boundary a and the upper boundary b as the working condition interval center value of the corresponding dimension, and then calculate the normalized distance;

[0236] The above thresholds and coefficients are all preferred values. They can be adjusted according to the actual structural parameters and operating conditions of the grain crusher, provided that the establishment of the working condition judgment set, the matching of multi-dimensional combination conditions, and the normal execution of the actuator control command group are guaranteed.

[0237] To further illustrate the working process of this embodiment, a specific operation process is given below:

[0238] In step S1, 300 sample records were continuously collected under the condition of excessive feeding. After validity verification and stability screening, 286 sample records remained. Among these 286 sample records, the minimum effective value of the drive motor operating current was 70A and the maximum effective value was 95A; the minimum effective value of the actual rotation speed of the crushing component was 2600r / min and the maximum effective value was 3300r / min; the minimum effective value of the crushing chamber temperature was 45℃ and the maximum effective value was 70℃; the minimum effective value of the machine body vibration intensity was 5mm / s and the maximum effective value was 12mm / s; the minimum effective value of the feed rate per unit time was 260kg / min and the maximum effective value was 380kg / min; the minimum effective value of the discharge particle size was 1.0mm and the maximum effective value was 1.8mm; the discharge channel blockage state 0 occurred 286 times and the discharge channel blockage state 1 occurred 0 times. Therefore, the multi-dimensional combination conditions for the overfeeding condition are: drive motor operating current 70A to 95A, actual rotation speed of crushing components 2600r / min to 3300r / min, crushing chamber temperature 45℃ to 70℃, machine body vibration intensity 5mm / s to 12mm / s, feed rate per unit time 260kg / min to 380kg / min, discharge particle size 1.0mm to 1.8mm, and discharge channel blockage 0%.

[0239] The allowable parameter adjustment range for the overfeed condition is as follows: feed opening 20% ​​to 55%, crushing component speed 2800 r / min to 3800 r / min, screening channel opening 40% to 75%, discharge speed 180 kg / min to 320 kg / min, and output adjustment 75% to 100%. The multidimensional boundary conditions for the target operating condition range are as described above.

[0240] The real-time multi-dimensional operating status signal set obtained in step S2 is as follows: real-time drive motor operating current 78A, real-time actual rotation speed of the crushing component 3100r / min, real-time crushing chamber temperature 58℃, real-time machine body vibration intensity 7mm / s, real-time feed rate per unit time 300kg / min, real-time discharge particle size 1.4mm, and real-time discharge channel blockage status 0. When matching the multi-dimensional combination conditions of the overfeed condition, all seven dimensions meet the corresponding conditions, m1 to m7 are all 1, and the comprehensive matching value M = 1×1×1×1×1×1×1 = 1, and the corresponding operating condition range is the overfeed condition. Based on the corresponding operating condition range, the allowable parameter adjustment range is read to generate the current operating condition parameter set: feed opening 20% ​​to 55%, crushing component rotation speed parameter value 2800r / min to 3800r / min, screening channel opening 40% to 75%, discharge speed 180kg / min to 320kg / min, and output adjustment amount 75% to 100%.

[0241] Step S3 calculates the deviations, obtaining the following deviations: drive motor operating current deviation of 13A, with the deviation direction being higher than the target, corresponding to the second deviation level; actual rotational speed deviation of the crushing component of 0; crushing chamber temperature deviation of 3℃, with the deviation direction being higher than the target, corresponding to the first deviation level; machine body vibration intensity deviation of 0; feed rate deviation per unit time of 60kg / min, with the deviation direction being higher than the target, corresponding to the second deviation level; discharge particle size deviation of 0.2mm, with the deviation direction being higher than the target, corresponding to the first deviation level; and discharge channel blockage deviation of 0.

[0242] Assume the current actuator parameters are: current feed opening 60%, current crushing component speed 3100 r / min, current screening channel opening 70%, current discharge speed 210 kg / min, and current output adjustment 80%. Based on the deviation direction and level, the feed actuator has two adjustment steps, with a candidate feed opening of 60% - 2 × 5% = 50%; the crushing actuator has one adjustment step, with a candidate crushing component speed of 3100 r / min + 1 × 100 r / min = 3200 r / min; the screening actuator has one adjustment step, with a candidate screening channel opening of 70% - 1 × 5% = 65%; and the discharge actuator has one adjustment step, with a candidate discharge speed of 210 kg / min. +1×20kg / min=230kg / min; the load adjustment actuator has two adjustment steps, and the candidate output adjustment amount is 80%+2×5%=90%; the above candidate control parameters are all within the allowable parameter adjustment range corresponding to the overfeed condition, and the actuator control command group is generated: feed opening parameter value 50%, crushing component speed parameter value 3200r / min, screening channel opening parameter value 65%, discharge speed parameter value 230kg / min, and output adjustment amount parameter value 90%.

[0243] Step S4: After issuing the actuator control command group and waiting 5 seconds, collect the first round of updated multi-dimensional operating status signal group: update drive motor operating current 66A, update actual rotation speed of crushing component 3210r / min, update crushing chamber temperature 54℃, update machine vibration intensity 6mm / s, update feed rate per unit time 245kg / min, update discharge particle size 1.1mm, update discharge channel blockage status 0. The updated drive motor operating current of 66A is higher than the target drive motor operating current boundary upper limit of 65A, and the updated feed rate per unit time of 245kg / min is higher than the target feed rate per unit time boundary upper limit of 240kg / min; therefore, no target satisfaction flag is generated.

[0244] The first round of updated multi-dimensional operating status signal group is returned to step S2 as the new round of real-time multi-dimensional operating status signal group. After multi-dimensional combination condition matching, the corresponding operating condition range is determined to be a stable crushing condition, generating a new current operating condition parameter group: feed opening 35% to 65%, crushing component speed parameter value 2800 r / min to 3600 r / min, screening channel opening 45% to 75%, discharge speed 140 kg / min to 260 kg / min, and output adjustment amount 60% to 85%. Step S3 recalculates the drive motor operating current deviation of 1A, corresponding to the first deviation level, and the feed rate deviation per unit time of 5 kg / min, also corresponding to the first deviation level. The current actuator parameter values ​​are the set values ​​in the first round of actuator control command group, i.e., current feed opening 50%, current crushing component speed parameter value 3200 r / min, current screening channel opening 65%, current discharge speed 230 kg / min, and current output adjustment amount 90%. The candidate feed opening of the feed actuator is 50% - 1 × 5% = 45%; the candidate output adjustment of the load regulating actuator is 90% + 1 × 5% = 95%; the crushing, screening, and discharging actuators did not generate new control directions, and the current actuator parameter values ​​are maintained; after boundary verification of the new current operating condition parameter group, the candidate output adjustment of 95% exceeds the upper limit of the output adjustment range of 85% corresponding to the stable crushing condition, and the output adjustment parameter value is determined to be 85%. The second round of actuator control command group is: feed opening parameter value 45%, crushing component speed parameter value 3200 r / min, screening channel opening parameter value 65%, discharge speed parameter value 230 kg / min, and output adjustment parameter value 85%.

[0245] After the second round of execution and a 5-second wait, the second round of updated multi-dimensional operating status signal group is collected: updated drive motor operating current 61A, updated actual rotation speed of crushing component 3205r / min, updated crushing chamber temperature 52℃, updated machine body vibration intensity 5mm / s, updated feed rate per unit time 225kg / min, updated discharge particle size 1.0mm, updated discharge channel blockage status 0; the second round of updated multi-dimensional operating status signal group fully meets the multi-dimensional boundary conditions of the target operating range, generating a target satisfaction flag, stopping this round of adjustment and maintaining the current actuator parameter values; in this embodiment, two rounds of iteration are executed from the initial real-time multi-dimensional operating status signal group to the generation of the target satisfaction flag, and the final parameter combination is: feed opening parameter value 45%, crushing component rotation speed parameter value 3200r / min, screening channel opening parameter value 65%, discharge speed parameter value 230kg / min, and output adjustment parameter value 85%.

[0246] As can be seen from the above description, the fully automatic control method for grain crushers for unmanned operation provided in this embodiment has the following technical effects:

[0247] First, sample operating data of the grain crusher is acquired, and a set of operating condition judgment conditions is established based on the sample operating data. This allows multiple operating condition intervals, multidimensional combination conditions of each operating condition interval, the allowable parameter adjustment range of each operating condition interval, and the multidimensional boundary conditions of the target operating condition interval to be included in the same judgment and invocation system. During unmanned operation, the real-time multidimensional operating status signal group of the grain crusher is acquired. Multidimensional combination condition matching is performed based on the multidimensional combination conditions in the set of operating condition judgment conditions to determine the operating condition interval to which the real-time multidimensional operating status signal group belongs and generate the current operating condition parameter group. Then, the deviation between the real-time multidimensional operating status signal group and the multidimensional boundary conditions of the target operating condition interval is calculated, and an actuator control command group is generated within the corresponding allowable parameter adjustment range. Subsequently, the multidimensional combination condition matching is iteratively performed by updating the multidimensional operating status signal group until the updated multidimensional operating status signal group satisfies the multidimensional boundary conditions of the target operating condition interval.

[0248] Therefore, the set of operating condition judgment conditions formed by the sample operation data can continuously participate in the identification of the corresponding operating condition interval, the generation of the current operating condition parameter group, and the determination of the control command group of the actuator during the real-time control stage. This enables the control process of the grain crusher to continuously judge and constrain the overall operating state reflected by the drive motor operating current, the actual speed of the crushing component, the temperature of the crushing chamber, the vibration intensity of the machine body, the feed rate per unit time, the discharge particle size value, and the blockage status of the discharge channel. At the same time, combined with boundary verification, comprehensive matching value, normalized distance, nearest neighbor matching flag, operating condition abnormality flag, and adjacent boundary truncation rules, the state validity and parameter boundary constraints of the real-time multi-dimensional operating status signal group from acquisition and matching to control parameter generation are performed. This reduces the situation where the adjustment commands of various actuators conflict with each other, reduces the impact of abnormal signals or out-of-bounds parameters on the unmanned continuous operation adjustment process, and helps to improve the reliability of the grain crusher to smoothly converge and maintain the expected processing state under unmanned continuous operation conditions.

[0249] Please see Figure 6 The second objective of this embodiment is to provide a system for a fully automatic control method of a grain crusher for unmanned operation, including a working condition modeling module 100, a working condition identification module 200, a control decision module 300, and a feedback adjustment module 400, wherein:

[0250] The working condition modeling module 100 acquires sample operating data of the grain crusher and establishes a set of working condition judgment conditions based on the sample operating data. The set of working condition judgment conditions includes multiple working condition intervals, multi-dimensional combination conditions of each working condition interval, allowable parameter adjustment range of each actuator corresponding to each working condition interval, and multi-dimensional boundary conditions of the pre-set target working condition interval.

[0251] The working condition identification module 200 acquires the real-time multi-dimensional operating status signal group of the grain crusher, performs multi-dimensional combination condition matching on the real-time multi-dimensional operating status signal group based on multi-dimensional combination conditions, determines the working condition interval to which the real-time multi-dimensional operating status signal group belongs, and extracts the allowable parameter adjustment range of each actuator corresponding to the working condition interval from the allowable parameter adjustment range to generate the current working condition parameter group.

[0252] The control decision module 300 reads the allowable parameter adjustment range of each actuator in the current operating condition parameter group, calculates the deviation between the real-time multidimensional operating status signal group and the multidimensional boundary conditions of the target operating condition interval, and determines the control command parameter value of each actuator according to the deviation within the corresponding allowable parameter adjustment range, and generates the actuator control command group.

[0253] The feedback adjustment module 400 sends the actuator control command group to each actuator for execution, collects the updated multi-dimensional operating status signal group after execution, and uses the updated multi-dimensional operating status signal group as a new round of real-time multi-dimensional operating status signal group to iteratively execute multi-dimensional combination condition matching until the updated multi-dimensional operating status signal group meets the multi-dimensional boundary conditions of the target operating condition range.

[0254] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred embodiments of the present invention and are not intended to limit the invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic control method for a grain crusher for unmanned operation, characterized in that, The methods and steps include the following: S1. Obtain sample operating data of the grain crusher, and establish a set of operating condition judgment conditions based on the sample operating data. The set of operating condition judgment conditions includes multiple operating condition intervals, multi-dimensional combination conditions of each operating condition interval, allowable parameter adjustment range of each actuator corresponding to each operating condition interval, and multi-dimensional boundary conditions of a pre-set target operating condition interval. S2. Obtain the real-time multi-dimensional operating status signal group of the grain crusher, perform multi-dimensional combination condition matching on the real-time multi-dimensional operating status signal group based on the multi-dimensional combination conditions, determine the operating condition interval to which the real-time multi-dimensional operating status signal group belongs, and extract the allowable parameter adjustment range of each actuator corresponding to the operating condition interval from the allowable parameter adjustment range to generate the current operating condition parameter group. S3. Read the allowable parameter adjustment range of each actuator in the current working condition parameter group, calculate the deviation between the real-time multidimensional operating status signal group and the multidimensional boundary conditions of the target working condition interval, and determine the control command parameter value of each actuator according to the deviation within the corresponding allowable parameter adjustment range, and generate the actuator control command group. S4. The control command group of the actuator is sent to each actuator for execution, the updated multi-dimensional operating status signal group after execution is collected, and the updated multi-dimensional operating status signal group is used as a new round of real-time multi-dimensional operating status signal group to iteratively execute the multi-dimensional combination condition matching until the updated multi-dimensional operating status signal group satisfies the multi-dimensional boundary conditions of the target operating condition range.

2. The fully automatic control method for grain crushers for unmanned operation according to claim 1, characterized in that, The process of acquiring the sample running data specifically includes: The grain crusher is controlled to enter multiple preset working conditions in sequence. Under each preset working condition, the operating status signal is collected according to the sample sampling period to obtain multiple sample records. The operating status signals collected within the same sample sampling period are written into the same sample record. Write a corresponding preset working condition identifier for each sample record, perform validity verification on the sample record, and mark the sample record as invalid when any operating status signal exceeds the corresponding acquisition range or the value of the discharge channel blockage is abnormal, and prohibit the invalid sample record from participating in the establishment of the working condition judgment condition set. Stability screening is performed on valid sample records. A stability screening threshold is determined based on the average value and standard deviation of each numerical operating status signal under the same operating condition identifier in the valid sample records. Sample records with any numerical operating status signal exceeding the stability screening threshold are removed. Based on the sample record quantity threshold, it is determined whether to re-collect sample operating data under the operating condition, or to record the remaining sample records after removal as the sample operating data corresponding to the operating condition identifier.

3. The fully automatic control method for grain crushers for unmanned operation according to claim 2, characterized in that, The process of establishing the set of operating condition determination criteria specifically includes: The sample operation data are classified according to the operating condition identifier to obtain the sample record set corresponding to each operating condition identifier. For the sample record set corresponding to the same operating condition identifier, the lower boundary and upper boundary of each numerical operating status signal are calculated respectively. The lower boundary is the minimum effective value of the operating status signal in the sample record set, and the upper boundary is the maximum effective value of the operating status signal in the sample record set. For the sample record set corresponding to the same working condition identifier, the status value of the discharge channel blockage is statistically analyzed. The status value that appears more frequently is determined as the status value of the discharge channel blockage. When the number of occurrences is equal, the status value of the discharge channel blockage is determined according to the preset status value of the working condition identifier. Based on the boundary values ​​of the numerical operating status signals under the same operating condition identifier and the status values ​​of the material discharge channel blockage, multi-dimensional combination conditions for the corresponding operating condition intervals are generated. The allowable parameter adjustment ranges of each actuator are written for each operating condition interval, and the multi-dimensional boundary conditions of the pre-set target operating condition interval are written. Multiple operating condition intervals, multi-dimensional combination conditions of each operating condition interval, allowable parameter adjustment ranges corresponding to each operating condition interval, and multi-dimensional boundary conditions of the target operating condition interval are written into the same operating condition judgment condition set, and an operating condition interval number is assigned to each operating condition interval.

4. The fully automatic control method for grain crushers for unmanned operation according to claim 1, characterized in that, The process of acquiring the real-time multidimensional operating status signal group specifically includes: After the grain crusher enters unmanned operation mode, it collects real-time operating status signals according to the operating sampling cycle and performs boundary verification on the real-time operating status signals. When any real-time operating status signal exceeds the corresponding acquisition range, or when the real-time discharge channel blockage status value is abnormal, a signal abnormality flag is generated, the control instruction group of the actuator in the previous cycle is maintained, the multi-dimensional combination condition matching in the current cycle is stopped, and the real-time operating status signal is re-acquired in the next operating sampling cycle. When all real-time operating status signals pass the boundary check, each real-time operating status signal is written into the same data group to form a real-time multi-dimensional operating status signal group.

5. The fully automatic control method for grain crushers for unmanned operation according to claim 4, characterized in that, The execution process of the multidimensional combination condition matching specifically includes: According to the working condition interval number, read the multi-dimensional combination conditions of each working condition interval in sequence, calculate the matching flag between the real-time multi-dimensional operating status signal group and the multi-dimensional combination conditions of the working condition interval respectively, and determine the comprehensive matching value that represents whether the real-time multi-dimensional operating status signal group and the working condition interval are matched as a whole based on the matching flag of each dimension. When only one operating condition interval matches the real-time multidimensional operating status signal group as a whole, that operating condition interval is determined as the operating condition interval to which the interval belongs; when two or more operating condition intervals match the real-time multidimensional operating status signal group as a whole, the normalized distance between the real-time multidimensional operating status signal group and each matching operating condition interval is calculated, and the operating condition interval with the smallest normalized distance is determined as the operating condition interval to which the interval belongs. When no operating condition interval matches the real-time multidimensional operating status signal group as a whole, the normalized distance between the real-time multidimensional operating status signal group and each operating condition interval is calculated; the operating condition interval with the smallest normalized distance is determined as the operating condition interval to which it belongs and a nearest neighbor matching flag is generated; when the smallest comprehensive normalized distance is greater than the judgment threshold of the smallest comprehensive normalized distance, an operating condition abnormality flag is generated; the actuator control command group of the previous cycle is maintained, and the real-time multidimensional operating status signal group is reacquired in the next operating sampling cycle.

6. The fully automatic control method for grain crushers for unmanned operation according to claim 5, characterized in that, The process of generating the current operating condition parameter set specifically includes: When the multi-dimensional combination conditions do not generate an abnormal operating condition flag, the allowable parameter adjustment range of each actuator is read according to the operating condition interval to which it belongs; When the read allowable parameter adjustment range exceeds the global value range of the corresponding control parameter, the lower limit and upper limit of the allowable parameter adjustment range are truncated according to the adjacent boundary truncation rule. Record the allowable parameter adjustment range of each actuator after verification as the current operating condition parameter group.

7. The fully automatic control method for grain crushers for unmanned operation according to claim 1, characterized in that, The calculation process for the deviation specifically includes: Read the multidimensional boundary conditions and real-time operating status signals of the target operating condition range, and calculate the deviation and deviation direction for each numerical operating status signal; When the real-time operating status signal is within the corresponding target boundary, the deviation is recorded as no deviation and the deviation direction is recorded as within the target; when the real-time operating status signal is above the upper boundary of the corresponding target boundary, the deviation is recorded as the corresponding excess and the deviation direction is recorded as above the target; when the real-time operating status signal is below the lower boundary of the corresponding target boundary, the deviation is recorded as the corresponding excess and the deviation direction is recorded as below the target. The deviation amount and direction are calculated for the real-time discharge channel blockage status. When the real-time discharge channel blockage status indicates that it is not blocked, the deviation direction is recorded as within the target. When the real-time discharge channel blockage status indicates that it is blocked, the deviation direction is recorded as the blockage status is abnormal. Write the deviation amount and direction of each operating status signal into the deviation record.

8. The fully automatic control method for grain crushers for unmanned operation according to claim 7, characterized in that, The process of generating the actuator control instruction group specifically includes: Read the current operating condition parameter group, the deviation record, and the current actuator parameter value; and classify the deviation corresponding to each operating status signal into deviation levels according to the deviation in the deviation record and the deviation level classification threshold. The number of adjustment steps for each actuator is determined based on the single-step adjustment amount of each actuator and the number of adjustment steps corresponding to each deviation level. The control direction of the actuator is determined based on the deviation direction in the deviation record. When the same actuator corresponds to multiple control directions in the same cycle, the control direction is determined according to the safety priority order. When the same actuator has multiple adjustment step sizes with the same control direction in the same cycle, the largest adjustment step size is taken. Candidate control parameters are obtained based on the current actuator parameter values, the control direction, and the number of adjustment steps. Boundary checks of the current operating condition parameter group are performed on the candidate control parameters according to the adjacent boundary truncation rule. The checked candidate control parameters are determined as the corresponding actuator control command parameter values. For actuators that do not generate a control direction, the current actuator parameter values ​​are maintained, and boundary checks of the current operating condition parameter group are performed according to the adjacent boundary truncation rule. The checked current actuator parameter values ​​are determined as the corresponding actuator control command parameter values. Write the control command parameter values ​​of each actuator into the same data group to generate the actuator control command group.

9. The fully automatic control method for grain crushers for unmanned operation according to claim 1, characterized in that, The acquisition process of the updated multi-dimensional operating status signal group specifically includes: After the actuator control command group is issued, it waits for a stabilization time. After the stabilization time ends, it collects each updated operating status signal according to the operating sampling cycle and writes it into the same data group to form an updated multi-dimensional operating status signal group. Determine whether the updated multidimensional operating status signal group satisfies the multidimensional boundary conditions of the target operating condition range. If it does, generate a target satisfaction flag, stop the current round of adjustment, and maintain the current actuator parameter values. When the conditions are not met, the updated multidimensional operating status signal group is returned as a new round of real-time multidimensional operating status signal group to execute the multidimensional combination condition matching. When the maximum number of iterations is reached and the target satisfaction flag is still not generated, an adjustment non-convergence flag is generated, and the actuator control instruction group obtained in the last round of iteration is maintained.

10. A system using a fully automatic control method for a grain crusher for unmanned operation as described in any one of claims 1-9, characterized in that, It includes a working condition modeling module, a working condition identification module, a control decision module, and a feedback adjustment module, among which: The working condition modeling module acquires sample operating data of the grain crusher and establishes a set of working condition judgment conditions based on the sample operating data. The set of working condition judgment conditions includes multiple working condition intervals, multi-dimensional combination conditions of each working condition interval, allowable parameter adjustment range of each actuator corresponding to each working condition interval, and multi-dimensional boundary conditions of a pre-set target working condition interval. The working condition identification module acquires the real-time multi-dimensional operating status signal group of the grain crusher, performs multi-dimensional combination condition matching on the real-time multi-dimensional operating status signal group based on the multi-dimensional combination conditions, determines the working condition interval to which the real-time multi-dimensional operating status signal group belongs, and extracts the allowable parameter adjustment range of each actuator corresponding to the working condition interval from the allowable parameter adjustment range to generate the current working condition parameter group. The control decision module reads the allowable parameter adjustment range of each actuator in the current operating condition parameter group, calculates the deviation between the real-time multidimensional operating status signal group and the multidimensional boundary conditions of the target operating condition interval, and determines the control command parameter value of each actuator according to the deviation within the corresponding allowable parameter adjustment range, and generates an actuator control command group. The feedback adjustment module sends the control command group of the actuators to each actuator for execution, collects the updated multidimensional operating status signal group after execution, and uses the updated multidimensional operating status signal group as a new round of real-time multidimensional operating status signal group to iteratively execute the multidimensional combination condition matching until the updated multidimensional operating status signal group satisfies the multidimensional boundary conditions of the target operating condition range.

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