JP7611669B2 - Crushing load control device and method for crusher - Google Patents

Description

The present invention relates to a crushing load control device and method for crushers such as gyratory crushers and impact crushers used to crush rocks, ores, etc., and uniaxial shear crushers used to crush waste, etc.

Conventionally, there has been known a rotating crusher configured such that a crushing chamber is formed between a conical cylindrical concave and a truncated cone-shaped mantle placed inside the cone, and the raw ore (material to be crushed) supplied to the crushing chamber from a raw material hopper is pinched between the concave and the mantle to be crushed. The mantle is driven to rotate eccentrically by an electric motor. The gap between the two crushing surfaces of the concave and the mantle changes periodically, and the size of the crushed material is determined by the size of the outlet set (opening) at the narrowest position of the gap (closed set). Rotating crushers are classified into hydraulic and mechanical types according to the method of changing the outlet set amount. Hydraulic types are equipped with a hydraulic cylinder that raises and lowers the mantle relative to the concave, which is fixed in position. Mechanical types are equipped with an electric motor that raises and lowers the concave relative to the mantle.

In order to operate the above-mentioned gyratory crusher stably and efficiently, it is necessary to operate it with the raw ore in the crushing chamber full (choke feed state). The time it takes for the raw ore to pass through the crushing chamber varies depending on the properties of the raw ore, such as the grain size of the raw ore and the moisture content of the raw ore. Therefore, a choke feed state cannot be continuously obtained by supplying a fixed amount of raw ore. To address this issue, for example, Patent Document 1 discloses a method of adjusting the amount of raw ore supplied so that the level of the raw ore in the hopper detected by a level switch is kept constant in order to maintain the choke feed state.

In a gyratory crusher, even if the choke feed state is maintained, the load may fluctuate due to fluctuations in the properties and moisture content of the raw material. In addition, in a gyratory crusher, overload may occur due to the inclusion of foreign matter or packing of the raw material. To address this issue, for example, Patent Document 2 discloses that the load is determined based on the hydraulic pressure of the hydraulic cylinder and the current value of the electric motor, and the outlet set amount is adjusted based on the determination result. Here, on-off control is performed to repeatedly supply (or drain) oil to the hydraulic cylinder for a predetermined time until the detected value of the outlet set amount reaches the target value.

Japanese Patent Application Publication No. 10-272375 Japanese Unexamined Patent Publication No. 55-5718

The inventors of the present application are considering controlling at least one of the outlet set amount of the gyratory crusher and the supply amount of raw ore using feedback control rather than on-off control when automatically operating a gyratory crusher. More specifically, they are considering controlling the load index to fall within a predetermined steady-state range by using the electric motor current value or the hydraulic pressure value of the hydraulic cylinder as the load index, and using a control algorithm to find a new operation amount from the deviation between the measured value of the load index obtained as a response to a certain operation amount and the target value.

However, because the properties of the raw ore fed into a gyratory crusher (hardness, moisture content, etc.) vary, the response sensitivity can increase or decrease by up to about 10 times, causing the appropriate values of the control parameters to fluctuate when feedback control is performed. For this reason, if feedback control is performed by fixing the control parameters for the controlled object of a gyratory crusher, issues such as unstable phenomena such as hunting can occur, and it can take a long time to track to the target value can arise.

The present invention has been made in consideration of the above circumstances, and its purpose is to propose a crushing load control device and method for a crusher that shortens the work time and saves labor required for adjusting control parameters in order to ensure stable and continuous operation of the crusher.

A crushing load control device for a crusher according to one aspect of the present invention includes:
a load response acquisition unit that acquires a crushing load obtained as a response to a certain command value outputted to a certain control object of the crusher as an unprocessed load response;
a pre-processing unit for pre-processing the unprocessed load response into a load response;
a feedback control unit that generates a new command value based on a deviation between the load response and a predetermined load target value;
a control parameter adjustment unit that adjusts a control parameter of the feedback control unit based on the load response;
The pre-processing unit is characterized by having a steady-state characteristic extraction filter that attenuates crushing vibration inherent to the crusher and contained in the unprocessed load response.

According to the crushing load control device of the crusher having the above configuration, the load response input to the feedback control unit and the control parameter adjustment unit is governed by the processing performed by the pre-processing unit. In other words, the load response from which the influence of the crushing vibration has been removed by the pre-processing can be regarded as the load response characteristic of the crusher. Since the filter characteristics of the pre-processing unit can be designed arbitrarily, the control parameter adjustment unit can be designed corresponding to this filter characteristic. As a result, the control parameters of the feedback control unit can be theoretically automatically adjusted using the control parameter adjustment unit, so that the work time required for adjusting the control parameters can be shortened and labor saving can be achieved, and the accuracy of the judgment of whether or not the control parameters need to be adjusted can be improved. This can ultimately contribute to the continued stable operation of the crusher.

Further, a crushing load control method for a crusher according to one aspect of the present invention includes:
A step of acquiring a crushing load obtained as a response to a certain command value outputted to a certain control object of the crusher as an unprocessed load response;
pre-processing the raw load responses;
generating a new command value using a feedback controller based on a deviation between a load response obtained by pre-processing the raw load response and a predetermined load target value;
and adjusting a control parameter of the feedback controller based on the load response.
The pre-processing step includes extracting steady-state characteristics from the raw load response by damping crushing vibrations inherent to the crusher and contained in the raw load response.

According to the above-mentioned crushing load control method for a crusher, the load response used in the step of generating a new command value and the step of adjusting the control parameters is governed by the preprocessing. In other words, the load response from which the influence of the crushing vibration has been removed by the preprocessing can be regarded as the load response characteristic of the crusher. Since the contents of the process for extracting the steady-state characteristics from the unprocessed load response in the preprocessing can be designed arbitrarily, a process for adjusting the control parameters corresponding to the preprocessing can be designed. This allows the control parameters of the feedback controller to be automatically adjusted in theory, thereby shortening the work time and saving the labor required for adjusting the control parameters, and improving the accuracy of the judgment of whether or not the control parameters need to be adjusted. This can ultimately contribute to the continued stable operation of the crusher.

The present invention provides a crushing load control device and method for a crusher that can reduce the work time and labor required to adjust control parameters.

FIG. 1 is a diagram showing a schematic configuration of a gyratory crusher according to an embodiment of the present invention. FIG. 2 is a diagram showing the configuration of a control system of the gyrating crusher shown in FIG. FIG. 3 is a diagram showing a configuration of the crushing load control according to the first example. FIG. 4 is a flowchart of the process of crushing load control according to the first example. FIG. 5 is a diagram illustrating the amplitude and frequency characteristics of the raw load response. FIG. 6 is a table showing the relationship between the load response and the FFT analysis result. FIG. 7 is a chart showing the simulation results of the crushing load control. FIG. 8 is a diagram showing a configuration of the crushing load control according to the second example. FIG. 9 is a flowchart of an initial control parameter adjustment process in the crushing load control according to the second example. FIG. 10 is a diagram illustrating the initial control parameter adjustment process.

Next, an embodiment in which the present invention is applied to a gyratory crusher will be described with reference to the drawings. Figure 1 shows the schematic configuration of a crusher 1 according to one embodiment of the present invention.

[Outline of the configuration of the crusher 1]
As shown in FIG. 1, the crusher 1 includes a hopper 2 for storing raw stones (material to be crushed), a supply device 4 for supplying the raw stones to the hopper 2, a mantle 13 and a concave 14 for biting and crushing the raw stones dropped from the hopper 2, an electric motor 8 which is a rotating drive means for the mantle 13, a power transmission mechanism 80 which transmits rotational power from the electric motor 8 to the mantle 13, an outlet set adjustment device 10 which raises and lowers the mantle 13 relative to the concave 14, and a control device 9 which controls the operation of the crusher 1.

The crusher 1 further includes a frame 3 consisting of a top frame 31 and a bottom frame 32. A conical cylindrical concave 14 is provided on the inner circumference of the top frame 31. A truncated cone-shaped mantle 13 is disposed inside the concave 14. A crushing chamber 16 with a wedge-shaped vertical cross section is formed between the crushing surfaces of the concave 14 and the mantle 13, which face each other across a gap.

The hopper 2 is disposed on the top of the top frame 31. The supply device 4 includes, for example, a conveyor (not shown) and is capable of adjusting the amount of raw ore supplied to the hopper 2. The electric motor 41, which is the driving means of the supply device 4, is a variable speed motor and is driven and controlled by a motor driver 43.

The mantle 13 is attached to the mantle core 12 fixed to the upper part of the main shaft 5. The main shaft 5 is arranged in the frame 3 with its axis tilted from the vertical direction. The upper end of the main shaft 5 is rotatably supported by the upper bearing 34 provided at the upper end of the top frame 31. The lower part of the main shaft 5 is fitted into the inner bush 51. The inner bush 51 is fixed to the eccentric sleeve 52. The eccentric sleeve 52 is fitted into the outer bush 53 provided in the bottom frame 32. The lower part of the eccentric sleeve 52 is supported by a sliding bearing 66 provided in the cylinder tube 63 of the hydraulic cylinder 6. The lower end of the main shaft 5 is supported by a sliding bearing 62 provided in the ram 61 of the hydraulic cylinder 6.

The electric motor 8 is disposed outside the frame 3. The electric motor 8 is provided with a rotation speed sensor 25 for detecting the rotation speed of the electric motor 8, and a torque sensor 26 for detecting the output torque of the electric motor 8. The electric motor 8 is driven and controlled by a motor driver 88.

The power transmission mechanism 80 transmits power from the electric motor 8 to the main shaft 5 to which the mantle 13 is fixed. The power transmission mechanism 80 includes a horizontal shaft 83, a belt (or chain) type transmission mechanism 82 that transmits rotational power from the output shaft 81 of the electric motor 8 to the horizontal shaft 83, an eccentric sleeve 52, and a bevel gear transmission mechanism 84 that transmits rotational power from the horizontal shaft 83 to the eccentric sleeve 52. When the eccentric sleeve 52 rotates upon receiving the output of the electric motor 8, the main shaft 5 inserted into the eccentric sleeve 52 rotates eccentrically. As a result, the mantle 13 performs an eccentric rotation motion, or so-called precession motion, with respect to the concave 14 to which the position is fixed. Due to the eccentric rotation motion of the mantle 13, the outlet set amount (opening) between the crushing surface of the mantle 13 and the crushing surface of the concave 14 changes depending on the rotation position of the main shaft 5.

The crusher 1 according to this embodiment is equipped with a hydraulic cylinder 6 as an outlet set adjustment device 10. Operation of the hydraulic cylinder 6 moves the mantle 13 up and down relative to the concave 14, changing the outlet set amount (closed set) at the narrowest position of the gap between the two crushing surfaces of the concave 14 and the mantle 13. This hydraulic cylinder 6 also functions as a pressure receiving means that receives the crushing pressure applied to the mantle 13.

The hydraulic cylinder 6 includes a cylinder tube 63, a ram 61 that slides inside the cylinder tube 63, an outlet set sensor 23, an oil tank 67, and a hydraulic circuit 7. The outlet set sensor 23 is, for example, a contact or non-contact position sensor that detects the position (displacement) of the ram 61. The position of the mantle 13 in the height direction relative to the concave 14 is obtained from the position of the ram 61 detected by the outlet set sensor 23, and the outlet set amount is obtained from the relative positional relationship between the concave 14 and the mantle 13.

A hydraulic chamber 65 whose volume changes with the displacement of the ram 61 is formed inside the cylinder tube 63, and the hydraulic circuit 7 is connected to this hydraulic chamber 65. The ram 61 rises when hydraulic oil from the oil tank 67 is supplied to the hydraulic chamber 65 through the hydraulic circuit 7. The ram 61 descends when hydraulic oil from the hydraulic chamber 65 is drained to the oil tank 67 through the hydraulic circuit 7.

The hydraulic circuit 7 includes a communication pipe 71 connected to the lower part of the hydraulic chamber 65, an accumulator 72 (or a balance cylinder) provided in the communication pipe 71, an oil supply pipe 73 connected to the communication pipe 71, and an oil drain pipe 74 connected to the oil supply pipe 73. However, the configuration of the hydraulic circuit 7 is not limited to this embodiment. In the oil supply pipe 73, a strainer 75, a gear pump 76, a check valve 77, and a normally closed shutoff valve 78 are provided in order from the upstream side along the flow of hydraulic oil from the oil tank 67 to the hydraulic chamber 65. The gear pump 76 is driven by a pump motor 68. The pump motor 68 is an electric motor and is driven and controlled by a motor driver 69. A pressure sensor 24 that detects the pressure of the hydraulic oil in the hydraulic chamber 65 is further provided in the hydraulic chamber 65, the communication pipe 71, or the oil supply pipe 73. The oil drain pipe 74 is connected to the oil supply pipe 73 between the check valve 77 and the shutoff valve 78. The oil drain pipe 74 is provided with a normally closed shutoff valve 79.

[Configuration of the control system of the crusher 1]
Fig. 2 is a diagram showing the configuration of the control system of the crusher 1. As shown in Fig. 2, various instruments including an outlet set sensor 23, a pressure sensor 24, a rotation speed sensor 25, and a torque sensor 26 are connected to the control device 9 by wire or wireless so as to be able to transmit and receive (or transmit) signals. An alarm device 99 that outputs an alarm to an operator and a display output device 98 that presents the contents and results of processing to the operator are connected to the control device 9. In addition, various devices including a motor driver 43 of the electric motor 41 of the supply device 4, a motor driver 88 of the electric motor 8, a motor driver 69 of the pump motor 68, a shutoff valve 78, and a shutoff valve 79 are connected to the control device 9 by wire or wireless so as to be able to transmit and receive signals.

The control device 9 is a so-called computer, and has an arithmetic processing unit such as a CPU, and storage units such as a ROM and a RAM (none of which are shown). The storage units store programs executed by the arithmetic processing unit, various fixed data, etc. The arithmetic processing unit transmits and receives data to external devices. The arithmetic processing unit also inputs detection signals from various sensors and outputs control signals to each component of the crusher 1.

The control device 9 has an operation control device 90 that controls the operation of each element of the crusher 1, and a crushing load control device 91 that controls the crushing load of the crusher 1. The operation control device 90 includes the following functional parts: a control unit that controls the operation of the supply device 4, a control unit that controls the operation of the outlet set adjustment device 10 (hydraulic cylinder 6), and a control unit that controls the operation of the electric motor 8. The crushing load control device 91 includes the following functional parts: a feedback control unit 92 (feedback controller), a load response acquisition unit 94, a control parameter adjustment unit 95, a preprocessing unit 97, and a display control unit 93. In the control device 9, the arithmetic processing unit reads out and executes software such as a program stored in the storage unit, thereby performing processing as the above-mentioned functional parts. The control device 9 may execute each process by centralized control using a single computer, or may execute each process by distributed control using the cooperation of multiple computers. The control device 9 may also be composed of a microcontroller, a programmable logic controller (PLC), or the like. The operation control device 90 and the crushing load control device 91 may be configured as an integrated unit, or may be configured to be independent but capable of communicating with each other.

[Operation method of crusher 1]
Here, the operation method of the crusher 1 having the above configuration will be described. When starting the operation of the crusher 1, the control device 9 operates the outlet set adjustment device 10 so that the outlet set amount becomes the initial setting value. The initial setting value of the outlet set amount is set in advance according to the particle size of the raw ore or crushed material. The control device 9 operates the outlet set adjustment device 10 so that the outlet set amount becomes the initial setting value based on the detection value of the outlet set sensor 23. When the outlet set amount is larger than the initial setting value, the control device 9 opens the shutoff valve 78 and operates the pump motor 68 to supply oil to the hydraulic chamber 65. When the outlet set amount is smaller than the initial setting value, the control device 9 opens the shutoff valve 78 and the shutoff valve 79 to drain oil from the hydraulic chamber 65.

Then, the control device 9 starts the electric motor 8, which starts the supply device 4. By the operation of the supply device 4, the raw ore is fed through the hopper 2 into the crushing chamber 16, where it is crushed between the concave 14 and the mantle 13 that rotates eccentrically, and is collected as crushed products from below the bottom frame 32.

During the operation of the crusher 1 as described above, the crushing load fluctuates due to disturbances such as the properties of the raw ore and changes in the level of the raw ore in the hopper 2. Here, the "crushing load" refers to the load applied to the output shaft 81 of the electric motor 8 as the raw ore is crushed. When an overload of a predetermined level or more occurs on the output shaft 81 of the electric motor 8, the rotation of the output shaft 81 is locked and the electric motor 8 is stopped in an emergency by the activation of an overload protection circuit. Therefore, the crusher 1 is equipped with a load measuring device that measures a load index I that directly or indirectly indicates the crushing load, and the control device 9 monitors the load index I measured during the crushing operation and performs crushing load control to adjust at least one of the amount of raw ore supplied by the supply device 4 and the amount of the outlet set by the outlet set adjustment device 10 so that the load index I is maintained within a predetermined steady range.

The crushing load is expressed as the product of the rotation speed of the output shaft 81 and the output torque. Therefore, the crushing load can be measured as the product of the rotation speed detected by the rotation speed sensor 25 and the output torque detected by the torque sensor 26. Since the rotation speed of the output shaft 81 corresponds to the rotation speed of the horizontal shaft 83 and the rotation speed of the eccentric sleeve 52, the rotation speed detected by the rotation speed sensor (not shown) provided on the horizontal shaft 83 or the eccentric sleeve 52 may be used instead of the rotation speed detected by the rotation speed sensor 25.

The crushing load is correlated with the driving current of the electric motor 8. Therefore, the change in the crushing load can be estimated based on the change in the driving current of the electric motor 8. The driving current of the electric motor 8 can be measured as the detection value of the current sensor 88a included in the motor driver 88.

The crushing load is also correlated with the power consumption of the electric motor 8. Therefore, the change in the crushing load can be estimated based on the change in the power consumption of the electric motor 8. The power consumption of the electric motor 8 can be measured as the product of the detection value of the current sensor 88a and the detection value of the voltage sensor 88b included in the motor driver 88.

Furthermore, the crushing load is correlated with the crushing pressure. Therefore, the change in the crushing load can be estimated based on the change in the crushing pressure. The crushing pressure can be measured as the pressure in the hydraulic chamber 65 detected by the pressure sensor 24.

From the above, at least one of the product of the rotation speed and the output torque, the drive current of the electric motor 8, the power consumption of the electric motor 8, and the crushing pressure can be adopted as the load index I. Then, depending on the adopted load index I, an instrument that measures or detects the load index I is selected as the load measuring instrument.

[Crushing Load Control by Crushing Load Control Device 91]
In the crushing load control device 91, the load index I and the control object are preset, and various numerical values used for control, including the load target value and the initial control parameters of the control algorithm, are preset. As described above, the load index I is a measurement value that directly or indirectly indicates the crushing load, and may be any one of the product value of the rotation speed and the output torque, the value of the driving current of the electric motor 8, the value of the power consumption of the electric motor 8, and the value of the crushing pressure. The control object is at least one of the supply amount of the raw ore by the supply device 4 and the outlet set amount by the outlet set adjustment device 10. When the production volume is emphasized, the crushing load control is performed in which the shared amount of the raw ore is constant and the outlet set amount is variable. When the product particle size is emphasized, the crushing load control is performed in which the outlet set amount is constant and the supply amount of the raw ore is variable. Below, a first example and a second example of the crushing load control performed by the crushing load control device 91 will be described.

<First example of crushing load control>
First, a first example of the crushing load control will be described. In the first example of the crushing load control by the crushing load control device 91, after the crusher 1 is started, the crushing load control is started after the driving current value and the crushing pressure are stabilized at predetermined steady operating values, that is, after the crushing load control enters a steady state. Figure 3 is a diagram showing the configuration of the crushing load control according to the first example, and Figure 4 is a flow chart of the process of the crushing load control according to the first example.

As shown in FIG. 3, the crushing load control device 91 includes a load response acquisition unit 94, a preprocessing unit 97, a feedback control unit 92, a display control unit 93, and a control parameter adjustment unit 95. Below, the configuration related to the crushing load control will be described along with the process flow of the crushing load control with reference to FIG. 3 and FIG. 4.

The operation control device 90 operates an element that adjusts the controlled object in response to a certain command value MV _n-1 (where n is a natural number). The load response acquisition unit 94 of the crushing load control device 91 acquires an unprocessed load response (i.e., a response waveform of the load index I _n-1 corresponding to the command value MV _n-1 ) from a load measuring device that measures or detects the load index I n- ₁ (step S1). For example, if the drive current of the electric motor 8 is the load index I, the detection values of the current sensor 88a that detects the drive current of the electric motor 8 are arranged in chronological order to generate the unprocessed load response.

The preprocessing unit 97 performs preprocessing on the unprocessed load response (step S2). The preprocessing unit 97 includes two types of filters: a noise removal filter 97a and a steady-state characteristic extraction filter 97b.

The noise removal filter 97a attenuates and removes high-frequency noise from the unprocessed load response. The noise removal filter 97a is, for example, a simple moving average filter that outputs the simple average of the input signal values for the past m time periods (m is a natural number) while moving the current time. However, as the noise removal filter 97a, a first-order lag filter may be used in addition to a known moving average filter other than a simple moving average filter.

The steady-state characteristic extraction filter 97b is a low-pass filter that attenuates frequency components higher than a predetermined cutoff frequency, and extracts steady-state characteristics from the unprocessed load response. FIG. 5 is a diagram illustrating the amplitude and frequency characteristics of the unprocessed load response. As shown in FIG. 5, the unprocessed load response includes, in addition to hunting caused by fluctuations in the response sensitivity to be extracted, crushing vibrations and noises specific to the crusher 1. Therefore, the steady-state characteristic extraction filter 97b is configured to maintain the amplitude of the frequency domain representing the steady-state characteristics, and to attenuate the amplitude of the frequency of the crushing vibration specific to the crusher 1 (hereinafter referred to as the "natural vibration frequency"). More specifically, the steady-state characteristic extraction filter 97b is configured to maintain the amplitude below the cutoff frequency (pass band), and to attenuate the amplitude at frequencies higher than the cutoff frequency (stop band). Such a cutoff frequency is, for example, the minimum value of the natural vibration frequency. The natural vibration frequency can be analytically determined in advance. The unprocessed load response is processed by the steady-state characteristic extraction filter 97b to extract the amplitude of a frequency band including the frequency at which hunting occurs (hereinafter referred to as the "hunting frequency"). The hunting frequency depends on the frequency characteristics of the steady-state characteristic extraction filter 97b. More specifically, the phase crossover frequency (i.e., the frequency at which the phase delay is 180 degrees) is determined by the phase delay characteristics of the steady-state characteristic extraction filter 97b, and since the control system becomes unstable in the frequency band of this phase crossover frequency and hunting occurs, the frequency band of the phase crossover frequency becomes the hunting frequency band.

As described above, the unprocessed load response from which noise and crushing vibration have been removed by being preprocessed in the preprocessing unit 97 is referred to as a "load response." The load response is used in the feedback control unit 92 to generate the next command value MV _n .

The feedback control unit 92 generates a command value _MVn for the controlled object so that the load index I falls within a predetermined steady range. In this example, the feedback control unit 92 employs a proportional-integral-derivative (PID) control algorithm as a control algorithm, and is configured to generate a command value _MVn from the deviation between a given load target value and a load response. However, the control algorithm of the feedback control unit 92 is not limited to this example, and may be one selected from a control algorithm group including a proportional (P) control algorithm, a proportional-integral (PI) control algorithm, a proportional-integral-derivative control algorithm, and a proportional-derivative feedback (PDF) control algorithm.

The control parameter adjustment unit 95 appropriately tunes the control parameters of the feedback control unit 92 in response to the varying response sensitivity. Here, the control parameter to be tuned is the control gain (proportional gain Kp) of the feedback control unit 92. However, the control parameters to be tuned may include at least one of the differential gain Kd and the integral gain Ki in addition to the proportional gain Kp of the feedback control unit 92.

The control parameter adjustment unit 95 performs frequency analysis of the load response using an FFT (fast Fourier transform) algorithm (step S3). The control parameter adjustment unit 95 detects an increase (or an increase and decrease) in the response sensitivity based on the FFT analysis result (frequency analysis result) of the load response.

Figure 6 is a table showing the relationship between the load response and the FFT analysis results. Figure 6 shows the load response and the FFT analysis results for each of the following cases: (a) when the response sensitivity increases and the control parameters become relatively excessive, (b) when the change in response sensitivity is sufficiently small and the control parameters are appropriate, and (c) when the response sensitivity decreases and the control parameters become relatively too small.

In the case of (a), the load response swings widely around the load target value and hunts, and the FFT analysis results show a hunting frequency peak. From this, if a hunting frequency peak is seen in the FFT analysis results of the load response, it is estimated that the response sensitivity has increased and the control parameters are relatively excessive.

In the case of (c), the load response is smaller than the load target value, and a large deviation from the load target value continues, and the FFT analysis result shows a peak at a frequency different from the hunting frequency (a frequency lower than the hunting frequency). From this, if a peak is seen at a frequency lower than the hunting frequency in the FFT analysis result of the load response, it is estimated that the response sensitivity has decreased and the control parameter has become relatively small.

In the case of (b), the load response is generally maintained at the load target value, and no peaks are present in the FFT analysis results. From this, if no peaks are observed in the FFT analysis results of the load response, it can be estimated that the change in response sensitivity is sufficiently small and the control parameters are appropriate.

As described above, increases and decreases in the response sensitivity of the crusher 1 can be detected based on the results of the FFT analysis of the load response.

When the control parameter adjustment unit 95 detects an increase in the response sensitivity (YES in step S4), it obtains the amplitude of the hunting and compares the amplitude of the hunting with a predetermined threshold (step S5). The amplitude of the hunting may be a maximum amplitude or an average amplitude. When the amplitude of the hunting is equal to or greater than the threshold (YES in step S5), the control parameter adjustment unit 95 adjusts the control parameters so as to reduce the control gain (step S6). Specifically, the control parameter adjustment unit 95 generates a new proportional gain _Kpn by reducing the proportional gain Kp by a predetermined first proportional gain adjustment amount, and updates the proportional gain Kp with the new proportional gain _Kpn .

When the control parameter adjustment unit 95 does not detect an increase in the response sensitivity (NO in step S4) but detects a decrease in the response sensitivity (YES in step S7), it calculates the deviation area of an arbitrary section. The deviation area is the cumulative value of the deviation between the load target value and the load response in an arbitrary section, and is the area of the region surrounded by the load target value and the load response (see FIG. 6). If the calculated deviation area is equal to or greater than a predetermined threshold (YES in step S8), the control parameter adjustment unit 95 adjusts the control parameters so as to increase the control gain (step S6). Specifically, the control parameter adjustment unit 95 generates a new proportional gain _Kpn by increasing the proportional gain Kp by a predetermined second proportional gain adjustment amount, and updates the proportional gain Kp with the new proportional gain _Kpn .

When the response sensitivity of the crusher 1 decreases, if the deviation between the load target value and the load response becomes large due to an external disturbance or the like, it takes time to restore the load response to the load target value. For this reason, it is desirable to adjust the control parameters when the response sensitivity decreases as described above, but for the purpose of suppressing hunting, the adjustment of the control parameters when the response sensitivity decreases may be omitted.

The control parameter adjustment unit 95 does not adjust the control parameters if the change in response sensitivity is sufficiently small, if the response sensitivity is increasing but the hunting amplitude is less than the threshold, or if the response sensitivity is decreasing but the deviation area is less than the threshold.

As described above, the control parameters are adjusted by the control parameter adjustment unit 95 so that the control parameters correspond to the current response sensitivity. In the feedback control unit 92 in which the control parameters have been adjusted, a new command value _MVn is generated based on the speed-type PID control algorithm from the deviation between the load target value and the load response (step S9).

The feedback control unit 92 outputs the generated new command value MV _n to the operation control device 90. The operation control device 90 operates an element that adjusts the control target in response to the new command value MV _n . When the control target is the supply amount of raw ore by the supply device 4, the supply device 4 operates in response to the new command value MV _n , and the supply amount of raw ore to the hopper 2 changes. When the control target is the outlet set amount by the outlet set adjustment device 10, the hydraulic cylinder 6 operates in response to the new command value MV _n , and the outlet set amount changes.

When the control target changes in response to the new command value MV _n as described above, the load index I shows a response to the new command value MV _n . The crushing load control device 91 returns the process to step S1 and performs crushing load control based on the unprocessed load response of the new command value MV _n acquired by the load response acquisition unit 94. Note that even if the control parameters are adjusted as described above, the change in response sensitivity may not be improved, and in such a case, maintenance is required. Therefore, the control parameter adjustment unit 95 may be configured to output an alarm to the alarm device 99 to notify an operator of an abnormality when the change in response sensitivity is continuously estimated even after a predetermined observation period (e.g., several hours) has elapsed since the control parameters were adjusted.

Figure 7 is a chart showing the simulation results of crushing load control. In Figure 7, (a) represents the outlet set amount, (b) represents the supply amount of raw ore, (c) represents the load response, and (d) represents the control gain adjustment value, with (a) to (d) corresponding to each other on the time axis (horizontal axis). Here, the crushing pressure (i.e., the pressure in the hydraulic chamber 65) is used as the load index I, and the raw data of the crushing pressure that has been preprocessed is shown as the load response. In addition, the control gain is used as the control parameter to be adjusted, and the control gain adjustment value is expressed as a ratio when the initial gain is set to 1.

As shown in Figure 7, hunting appeared in the load response in response to the vibration of the outlet set amount about 50 seconds after the start. This was interpreted as an increase in response sensitivity, and the control gain was adjusted to be lowered about 250 seconds later. As a result, the response sensitivity properly recovered about 300 seconds later, and the hunting was eliminated. With the control gain lowered, the characteristics of the ore changed about 600 seconds after the start, and the load response fell below the load target value. This was interpreted as a decrease in response sensitivity, and the control gain was adjusted to be higher about 700 seconds later. As a result, the condition of poor tracking to the target value was eliminated, the load response rose sharply, and about 800 seconds after the start, the response sensitivity properly recovered, and the load response was approximately the load target value. About 1100 seconds after the start, the characteristics of the ore changed, causing the outlet set amount to vibrate, and hunting appeared in the load response, and the control gain was adjusted as described above.

These simulation results show that even if fluctuations occur in the load response during operation, the load response can be restored to the load target value by adjusting the control gain, allowing stable crushing to continue. As can be seen from these simulation results, when a change occurs in the system of crusher 1, the response is sharply reflected in the load index I, but there is little need to react sensitively to this, and reacting sensitively would be undesirable from the perspective of protecting the actuator. Due to these characteristics of crusher 1, it is preferable to perform preprocessing of the raw load response by removing noise using a moving average and extracting hunting using a low-pass filter.

<Second example of crushing load control>
Next, a second example of the crushing load control will be described. FIG. 8 is a diagram showing the configuration of the crushing load control according to the second example. As shown in FIG. 8, the crushing load control device 91 includes a feedback control unit 920, a load response acquisition unit 94, a control parameter adjustment unit 950, and a pre-processing unit 97. In the second example, compared to the first example described above, only the configurations of the feedback control unit 920 and the control parameter adjustment unit 950 are different. Therefore, in the following, the configurations of the feedback control unit 920 and the control parameter adjustment unit 950 will be described in detail, and the rest will be omitted by referring to the description of the first example.

The feedback control unit 920 is a proportional-integral-derivative (PID) controller that feedback controls the load response using a proportional-integral-derivative (PID) control algorithm. The control parameter adjustment unit 950 is configured to perform data-driven controller tuning (FRIT) on the control parameters of the feedback control unit 920, which is a PID controller. The control parameter adjustment unit 950 obtains ideal control parameters for the feedback control unit 920 using a set of input/output data measured in a closed loop, without performing system identification using a periodic signal. Below, the flow of setting the initial control parameters performed by the crushing load control device 91 will be explained using Figures 9 and 10. Figure 9 is a flow chart of the crushing load control process according to the second example.

First, the control parameter adjustment unit 950 acquires a load response as a closed-loop response characteristic (step S11). Here, as shown in FIG. 10(A), the control parameter adjustment unit 950 provides an excitation signal to the load target value. The feedback control unit 920 generates a command value based on the excitation signal and outputs it to the operation control device 90. The load response acquisition unit 94 acquires an unprocessed load response as a closed-loop response. The pre-processing unit 97 pre-processes the acquired unprocessed load response to obtain a load response. The configuration and processing content of the pre-processing unit 97 are the same as those in the first example. The control parameter adjustment unit 950 acquires this load response as a closed-loop response characteristic.

The control parameters (default control gains) of the feedback control unit 920 when initially acquiring the closed-loop response characteristics are set low to correspond to high response sensitivity in order to avoid instability and hunting.

To shorten the adjustment time for the initial control parameters, it is desirable to use an impulse input (or an impulse input + step input) as the excitation signal rather than a step input. Here, when using a step input as the excitation signal, it is necessary to wait until the load has risen sufficiently so that the load response is not buried in noise. In contrast, by using an impulse input as the excitation signal, it is no longer necessary to wait until the load has risen sufficiently, and it is possible to obtain the closed-loop response characteristics in a short time.

Next, the control parameter adjustment unit 950 obtains control parameters by optimization calculation using the obtained closed loop response characteristics (step S12). Here, as shown in FIG. 10(B), the control parameter adjustment unit 950 obtains the load response and the command value, and obtains control parameters that match the response sensitivity based on these by optimization calculation. In this embodiment, the optimization calculation is performed online using a gradient method based on the quasi-Newton method (e.g., the BFGS method, etc.) as the optimization calculation method.

The optimization calculation by the control parameter adjustment unit 950 can be performed either online or offline. For example, the adjustment of the control parameters may be performed offline when the crusher 1 is initially started or restarted, or may be performed online at any time while the crusher 1 is in operation. The control parameter adjustment unit 950 can calculate the optimal parameters for the current situation and reflect them in the crushing load control.

Then, the control parameter adjustment unit 950 acquires a load response as a closed-loop response characteristic using the calculated control parameters for verification (step S13). Here, as shown in FIG. 10(C), the control parameter adjustment unit 950 sets the calculated control parameters in the feedback control unit 920 and provides a step-shaped excitation signal to the load target value. The feedback control unit 920 generates a command value based on the excitation signal and outputs it to the operation control device 90. The load response acquisition unit 94 acquires an unprocessed load response as a closed-loop response. The preprocessing unit 97 preprocesses the acquired unprocessed load response to obtain a load response. The control parameter adjustment unit 950 acquires this load response as a closed-loop response characteristic for verification.

Finally, the control parameter adjustment unit 950 determines the deviation between the closed-loop response characteristic for verification and a given ideal response characteristic (step S14). If the deviation is equal to or less than a given threshold, the control parameter adjustment unit 950 determines that the determined control parameters are appropriate and ends the adjustment of the control parameters. On the other hand, if the deviation is greater than the given threshold, the control parameter adjustment unit 950 determines that the determined control parameters are inappropriate and returns the process to step S12.

The method for adjusting the initial control parameters of the feedback control unit 920 has been described above, but the control parameters of the feedback control unit 920 can be adjusted in a similar manner when the operation of the crusher 1 is resumed. In this case, the control unit 9 stores the control parameters and the load response characteristics obtained for each adjustment, and the progress of the load response characteristics may be displayed and output to the display output device 98 connected to the control unit 9 so that the load response characteristics obtained when the control parameters were adjusted last time can be compared with the load response characteristics obtained this time. Specifically, the display control unit 93 is configured to output display information to the display output device 98 so that the combination of the control parameter value adjusted by the control parameter adjustment unit 950 and the load response obtained thereby is displayed on the screen of the display output device 98 simultaneously for the most recent time and at least one time in the past. The display output device 98, which has acquired this display information, displays and outputs the combination of the most recent control parameter value and the load response obtained thereby, and the combination of the control parameter value and the load response obtained thereby for at least one time in the past. The load response characteristics include information such as time, raw load response, and load response, and in addition to the load response, the time and raw load response may be displayed on the screen of the display output device 98. This makes it possible to inform the operator of the operating status of the crusher 1 as a result of automatic control parameter adjustment. The control parameter adjustment unit 950 may be configured to return to the previous adjustment value of the control parameter if a good load response is not obtained within a specified observation period in the current control parameter adjustment.

(Summary)
As described above, the crushing load control device 91 of the crusher 1 according to this embodiment has the following features:
a load response acquisition unit 94 that acquires a crushing load obtained as a response to a certain command value outputted to a certain control object of the crusher 1 as an unprocessed load response;
a pre-processing unit 97 for pre-processing the raw load response into a load response;
A feedback control unit 92, 920 for generating a new command value based on a deviation between the load response and a predetermined load target value;
and a control parameter adjusting unit (95, 950) for adjusting a control parameter of the feedback control unit (92, 920) based on a load response;
The pre-processing unit 97 is characterized by having a steady-state characteristic extraction filter 97b for attenuating crushing vibrations inherent to the crusher 1 and contained in the unprocessed load response.

In this embodiment, the crusher 1 is a rotary crusher equipped with a conical cylindrical concave 14, a truncated cone-shaped mantle 13 arranged inside the concave 14, an electric motor 8 that rotates the mantle 13 in an eccentric motion, a hopper 2 for feeding raw stones into a crushing chamber 16 formed between the concave 14 and the mantle 13, a supply device 4 that supplies raw stones to the hopper 2, a load measuring device that measures a load index that directly or indirectly represents the crushing load, and an outlet set adjustment device 10 that changes the outlet set amount between the concave 14 and the mantle 13, and the controlled object is either the supply amount by the supply device 4 or the outlet set amount by the outlet set adjustment device 10.

According to the crushing load control device 91 of the crusher 1 configured as described above, the load response input to the feedback control unit 92 and the control parameter adjustment unit 95 is governed by the processing performed by the pre-processing unit. In other words, the load response from which the influence of the crushing vibration has been removed by the pre-processing can be regarded as the load response characteristic of the crusher 1. Since the filter characteristics of the pre-processing unit 97 can be designed arbitrarily, the control parameter adjustment unit 95 can be designed corresponding to these filter characteristics. As a result, the control parameters of the feedback control unit 92 can be theoretically automatically adjusted using the control parameter adjustment unit 95, so that the work time and manpower required for adjusting the control parameters can be shortened and the accuracy of the judgment of whether or not the control parameters need to be adjusted can be improved.

Further, the load control method of the crusher 1 according to the present embodiment is as follows:
A step of acquiring a crushing load obtained as a response to a certain command value outputted to a certain control object of the crusher 1 as an unprocessed load response;
pre-processing the raw load responses;
generating a new command value using a feedback controller (feedback control unit 92) based on a deviation between a load response obtained by preprocessing the unprocessed load response and a predetermined load target value;
and adjusting a control parameter of a feedback controller based on the load response.
The pre-processing step includes extracting steady-state characteristics from the raw load response by damping crushing vibration inherent to the crusher and contained in the raw load response.

According to the above-mentioned crushing load control method for the crusher 1, the load response used in the step of generating a new command value and the step of adjusting the control parameters is governed by the preprocessing. In other words, the load response from which the influence of the crushing vibration has been removed by the preprocessing can be regarded as the load response characteristic of the crusher 1. Since the contents of the process for extracting the steady-state characteristics from the unprocessed load response in the preprocessing can be designed arbitrarily, a process for adjusting the control parameters corresponding to the preprocessing can be designed. This allows the control parameters of the feedback controller (feedback control unit 92) to be theoretically adjusted automatically, thereby shortening the work time and saving the labor required for adjusting the control parameters, and improving the accuracy of the judgment of whether or not the control parameters need to be adjusted. This can ultimately contribute to the continued stable operation of the crusher.

In the crushing load control device 91 according to the above embodiment, the steady-state characteristic extraction filter 97b is a low-pass filter that has a cutoff frequency equal to the minimum frequency of the crushing vibration and attenuates frequency components equal to or higher than the cutoff frequency.

By preprocessing the unprocessed load response with the steady-state characteristic extraction filter 97b, which has a cutoff frequency sufficiently lower than the frequency of the crushing vibration inherent to the crusher 1 (natural vibration frequency), the load response obtained by preprocessing has known characteristics that depend on the steady-state characteristic extraction filter 97b. Since the filter characteristics of the steady-state characteristic extraction filter 97b can be designed arbitrarily, it is possible to set the stability limit of the load response (i.e., the frequency band where hunting occurs).

In addition, in the crushing load control device 91 according to the above embodiment, the preprocessing unit 97 has a noise removal filter 97a that attenuates high-frequency noise by moving average. Similarly, in the crushing load control method according to the above embodiment, the preprocessing step includes attenuating high-frequency noise from the unprocessed load response.

When a change occurs in the system of the crusher 1, the response is reflected in the load index I sharply, but there is little need to react to this too sensitively, and reacting too sensitively is undesirable from the viewpoint of protecting the actuator. Therefore, the pre-processing unit 97 configured as described above is suitable for the characteristics of the crusher 1, which has a fast response but does not care if the control is slow.

In addition, in the crushing load control device 91 according to the above embodiment, the control parameter adjustment unit 95 according to the first example is configured to perform an FFT frequency analysis of the load response, and estimate an increase in response sensitivity when a peak of a known hunting frequency is detected in the analysis result. Furthermore, the control parameter adjustment unit 95 is configured to obtain the amplitude of the hunting included in the load response when estimating an increase in response sensitivity, and adjust the control parameter so that the control gain as a control parameter is reduced when the amplitude is equal to or greater than a predetermined first threshold value.

Similarly, the step of adjusting the control parameters according to the above embodiment includes performing an FFT frequency analysis of the load response, and estimating an increase in response sensitivity when a peak of a known hunting frequency is detected in the analysis result. Furthermore, the step of adjusting the control parameters includes determining the amplitude of the hunting included in the load response when an increase in response sensitivity is estimated, and adjusting the control parameters such that the control gain as a control parameter is reduced when the amplitude is equal to or greater than a predetermined first threshold value.

By performing FFT frequency analysis on the load response from which the effects of crushing vibration have been removed in this way, the increase in response sensitivity can be estimated with high accuracy by detecting the peak of the hunting frequency. Then, the control parameters are adjusted in response to the increase in response sensitivity estimated in this way, so that although the response sensitivity of the crusher 1 fluctuates significantly, the crushing load is controlled and stable operation can be continued.

In addition, in the crushing load control device 91 according to the above embodiment, the control parameter adjustment unit 95 according to the first example is configured to estimate a decrease in response sensitivity when no hunting frequency peak is detected in the FFT analysis result of the load response and a peak of a frequency lower than the hunting frequency is detected. Furthermore, when estimating a decrease in response sensitivity, the control parameter adjustment unit 95 is configured to calculate a deviation area obtained by accumulating the deviation between the load target value and the load response for a predetermined period, and adjust the control parameter so as to increase the control gain as a control parameter when the deviation area is equal to or greater than a predetermined second threshold value.

Similarly, in the crushing load control method according to the above embodiment, the step of adjusting the control parameters includes estimating a decrease in response sensitivity when the analysis result does not detect a peak of the hunting frequency and detects a peak of a frequency lower than the hunting frequency. Furthermore, the step of adjusting the control parameters includes, when the decrease in response sensitivity is estimated, determining a deviation area obtained by accumulating the deviation between the load target value and the load response for a predetermined period, and adjusting the control parameters to increase the control gain as a control parameter when the deviation area is equal to or greater than a predetermined second threshold value.

By performing FFT frequency analysis on the load response from which the effects of crushing vibration have been removed in this way, the decrease in response sensitivity can be estimated with high accuracy by detecting peaks at frequencies lower than the hunting frequency. Then, the control parameters are adjusted in response to the decrease in response sensitivity estimated in this way, so that although the response sensitivity of the crusher 1 fluctuates significantly, the crushing load is controlled and stable operation can be continued.

In addition, in the crushing load control device 91 according to the above embodiment, the control parameter adjustment unit 95 according to the first example is configured to output an alarm to notify the operator of an abnormality if a change in response sensitivity is continuously estimated even after a predetermined observation period has elapsed since the control parameter was adjusted.

Similarly, in the crushing load adjustment method according to the above embodiment, the step of adjusting the control parameters includes outputting an alarm to notify an operator of an abnormality if a change in response sensitivity is estimated to continue even after a predetermined observation period has elapsed since the adjustment of the control parameters.

In addition, in the crushing load control device 91 according to the above embodiment, the control parameter adjustment unit 950 according to the second example is configured to perform data-driven controller tuning (FRIT). Here, the device may further include a display control unit 93 configured to output display information such that a combination of the control parameter value adjusted by the control parameter adjustment unit 950 and the load response obtained thereby is simultaneously displayed for the most recent occurrence and at least one occurrence prior to that.

Similarly, in a second example of the above embodiment, the step of adjusting the control parameters includes performing data-driven controller tuning (FRIT) of the control parameters. Here, the step of adjusting the control parameters may include outputting a combination of the adjusted control parameter values and the load responses obtained thereby so as to be displayed simultaneously for the most recent time and at least one time beyond that.

By using FRIT to adjust the control parameters in this way, it is possible to reduce the number of people required to adjust the initial control parameters (at the first start-up and restart), which was previously done by trial and error during actual equipment testing, and also to shorten the time required for this work.

The above describes a preferred embodiment of the present invention, but the present invention also includes modifications of the specific structure and/or details of the function of the above embodiment without departing from the spirit of the present invention. The above configuration can be modified, for example, as follows:

For example, in the above embodiment, the crusher 1 is equipped with a hydraulic outlet set adjustment device 10, but the crushing load control of the crushing load control device 91 may be applied to a mechanical crusher equipped with a mechanical outlet set adjustment device. However, in a mechanical crusher, since the outlet set adjustment device needs to be fixed by applying pressure during crushing operation, it is difficult to change the outlet set amount during crushing operation, and the supply amount of the supply device 4 is used as the control target.

For example, in the above embodiment, the adjustment of the control parameters of the feedback control units 92 and 920 is performed online, but may also be performed offline.

In addition, in the above embodiment, the crushing load control of the first and second examples may be combined and applied to one crusher 1. For example, the control parameters may be adjusted based on the second example at the initial start-up and restart of the crusher 1, and the control parameters may be adjusted based on the first example during steady-state operation of the crusher 1.

In the above embodiment, the crusher 1 is a gyratory crusher, but the crusher 1 to which the present invention is applied is not limited to a gyratory crusher, and can be applied to any crusher that does not require a relatively slow control speed. Examples of such crushers include uniaxial shear crushers used to crush waste materials, and impact crushers used to crush rocks, ores, etc.

In the above embodiment, the crusher 1 automatically changes the amount of raw ore input or the amount of the outlet set in response to a command from the crushing load control device 91, but the amount of raw ore input or the amount of the outlet set may be changed manually by an operator. In this case, it is preferable that the control device 9 is configured to display and output the load response status and the command from the crushing load control device 91 (i.e., the operation amount or its adjustment value) on the display output device 98.

1: Crusher 2: Hopper 4: Feeding device 8: Electric motor 10: Outlet set adjustment device 13: Mantle 14: Concave 16: Crushing chamber 9: Control device 90: Operation control device 91: Crushing load control device 92, 920: Feedback control unit (feedback controller)
93: Display control unit 94: Load response acquisition unit 93: Display control unit 95, 950: Control parameter adjustment unit 97: Preprocessing unit 97a: Noise removal filter 97b: Steady-state characteristic extraction filter

Claims (20)

a load response acquisition unit that acquires a crushing load obtained as a response to a certain command value outputted to a certain control target of the crusher as an unprocessed load response;
a pre-processing unit for pre-processing the unprocessed load response into a load response;
a feedback control unit that generates a new command value based on a deviation between the load response and a predetermined load target value;
a control parameter adjustment unit that adjusts a control parameter of the feedback control unit based on the load response;
The pre-processing unit has a steady-state characteristic extraction filter that attenuates crushing vibrations inherent to the crusher contained in the unprocessed load response.
Crushing load control device for crushers. The steady-state characteristic extraction filter is a low-pass filter that has a cutoff frequency equal to the minimum frequency of the crushing vibration and attenuates frequency components equal to or higher than the cutoff frequency.
The crushing load control device for a crusher according to claim 1. The pre-processing unit has a noise removal filter that attenuates high-frequency noise.
The crushing load control device for a crusher according to claim 1 or 2. the control parameter adjustment unit is configured to perform an FFT frequency analysis of the load response, and, when a peak of a known hunting frequency is detected in a result of the analysis, to estimate an increase in response sensitivity.
The crushing load control device for a crusher according to any one of claims 1 to 3. the control parameter adjustment unit is configured to obtain an amplitude of hunting included in the load response when an increase in the response sensitivity is estimated, and adjust the control parameter such that a control gain as the control parameter is reduced when the amplitude is equal to or greater than a predetermined first threshold value.
The crushing load control device for a crusher according to claim 4. the control parameter adjustment unit is configured to estimate a decrease in response sensitivity when a peak of the hunting frequency is not detected in the analysis result and a peak of a frequency lower than the hunting frequency is detected.
The crushing load control device for a crusher according to claim 4 or 5. the control parameter adjustment unit is configured to calculate a deviation area obtained by accumulating a deviation between the load target value and the load response for a predetermined period when the decrease in the response sensitivity is estimated, and adjust the control parameter so as to increase a control gain as the control parameter when the deviation area is equal to or larger than a predetermined second threshold value.
The crushing load control device for a crusher according to claim 6. the control parameter adjustment unit is configured to output an alarm to notify an operator of an abnormality when a change in the response sensitivity is continuously estimated even after a predetermined observation period has elapsed since the adjustment of the control parameter.
The crushing load control device for a crusher according to any one of claims 4 to 7. The control parameter adjustment unit is configured to perform data-driven controller tuning (FRIT).
The crushing load control device for a crusher according to any one of claims 1 to 3. a display control unit configured to output display information such that a combination of the value of the control parameter adjusted by the control parameter adjustment unit and the load response obtained thereby is simultaneously displayed for a most recent time and at least one time before that,
The crushing load control device for a crusher according to claim 9. The crusher is a rotary crusher including a conical cylindrical concave, a truncated cone-shaped mantle disposed inside the concave, an electric motor for eccentrically rotating the mantle, a hopper for feeding raw stones into a crushing chamber formed between the concave and the mantle, a supply device for supplying the raw stones to the hopper, a load measuring device for measuring a load index directly or indirectly indicating the crushing load, and an outlet set adjusting device for changing an outlet set amount between the concave and the mantle,
The control target is either one of the supply amount by the supply device and the outlet set amount by the outlet set adjustment device.
The crushing load control device for a crusher according to any one of claims 1 to 10. A step of acquiring a crushing load obtained as a response to a certain command value outputted to a certain control object of the crusher as an unprocessed load response;
pre-processing the raw load responses;
generating a new command value using a feedback controller based on a deviation between a load response obtained by pre-processing the raw load response and a predetermined load target value;
and adjusting a control parameter of the feedback controller based on the load response.
The pre-processing step includes extracting steady-state characteristics from the raw load response by damping a crushing vibration inherent to the crusher contained in the raw load response.
A method for controlling the crushing load of a crusher. the preprocessing step including attenuating high frequency noise from the raw load response.
A method for controlling a crushing load of a crusher according to claim 12. The step of adjusting the control parameter includes performing an FFT frequency analysis of the load response, and estimating an increase in response sensitivity when a peak of a known hunting frequency is detected in the analysis result.
A method for controlling a crushing load of a crusher according to claim 12 or 13. the step of adjusting the control parameter includes determining an amplitude of hunting included in the load response when an increase in the response sensitivity is estimated, and adjusting the control parameter so that a control gain as the control parameter is reduced when the amplitude is equal to or greater than a predetermined first threshold value.
A method for controlling a crushing load of a crusher according to claim 14. the step of adjusting the control parameter includes estimating a decrease in response sensitivity when the peak of the hunting frequency is not detected in the analysis result and a peak of a frequency lower than the hunting frequency is detected.
A method for controlling a crushing load of a crusher according to claim 14 or 15. the step of adjusting the control parameter includes: determining a deviation area obtained by accumulating a deviation between the load target value and the load response for a predetermined period when the decrease in the response sensitivity is estimated; and adjusting the control parameter so as to increase a control gain as the control parameter when the deviation area is equal to or larger than a predetermined second threshold value.
A method for controlling a crushing load of a crusher according to claim 16. the step of adjusting the control parameter includes outputting an alarm to notify an operator of an abnormality when a change in the response sensitivity is continuously estimated even after a predetermined observation period has elapsed since the adjustment of the control parameter.
A method for controlling a crushing load of a crusher according to any one of claims 14 to 17. the step of adjusting the control parameters includes performing data-driven controller tuning (FRIT) of the control parameters;
A method for controlling a crushing load of a crusher according to claim 12 or 13. the step of adjusting the control parameter includes outputting a combination of the adjusted value of the control parameter and the load response obtained thereby so as to be simultaneously displayed for the most recent time and at least one time in the past;
The crushing load control method for a crusher according to claim 19.

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