Mineral Sizer Phase Synchronization Tracking Control Method

Mineral sizer with synchronous gear forced synchronization has the advantages of strong shearing and bending crushing force, large crushing ratio, uniform particle size of discharge and screening, small powder passing amount, forced discharge, strong production processing capacity, and low energy consumption of crushing and screening. Therefore, it can adapt to the production requirements to the greatest extent and is a relatively ideal crushing and screening equipment. However, when a mineral sizer with forced synchronization of both rotational speed and phase cannot be equipped with a magnetic separator between the crushing and screening machine and the feeding equipment, and encounters materials that cannot be crushed (such as the digging teeth of the bucket of the loading electric shovel), if they need to be removed from the mineral sizer, the following measures should be taken: First, shut down the corresponding equipment of the feeding plate conveyor, mineral sizer and discharge rotary belt conveyor. Then, reverse the mineral sizer and remove the iron blocks from the materials in the silo. Especially for heavy equipment like mobile crushing and screening stations, there are a large number of large pieces of materials to be crushed and processed. It is very difficult to take them out from the materials in the deep silo and crush the large pieces of materials.

From this, it can be seen that for the mineral sizer where all synchronous gears are forced to be synchronized, since the double-toothed roller is constrained by the synchronous gears and cannot install a quick return mechanism, it is quite troublesome to encounter materials that cannot be crushed, seriously affecting the production efficiency. This is also the most distressing problem on the production site. In the existing technology, there are still mineral sizer systems with asynchronous rotational speeds and phases. Since there is no forced synchronous gear constraint between the double-toothed rollers of this mineral sizer, when encountering unbreakable materials, a rapid retreat mechanism can be configured. Therefore, the unbreakable materials can be quickly discharged from the expanded discharge port through the rapid retreat mechanism. The greatest advantage of this crushing and screening machine is its rapid resumption of production. However, the problem with this mineral sizer is that although the specifications and models of the drive motors, hydraulic couplings, reducers, support bearings of the rotor, and crushing rollers of the two toothed rollers of this crushing and screening machine are the same, there must be differences in the driving characteristics and damping characteristics of the transmission systems of the two toothed rollers caused by manufacturing and installation errors. Moreover, the mineral sizer box has a high rigidity and is fixedly installed on such a frame with bolts. The two toothed rollers almost operate independently of each other: It is inevitable that the rotational speeds of the two toothed rollers rotating towards each other and the phases of the corresponding teeth will be different. Due to the existence of the phase difference during the operation of the toothed rollers and the tendency to continue to accumulate and expand, the tooth distribution law under the condition that the rotational speed and phase of the double toothed rollers are synchronized is thus disrupted. This inevitably leads to the fact that the production processing capacity, crushing ratio, that is, the ability to break large pieces, the uniformity of the discharge particle size and the amount of powder passing, the load-bearing capacity and wear resistance of the crushing teeth, energy consumption and other technical performances of the double-toothed roller crushing and screening machine are all inferior to those of the gear-forced synchronous crushing and screening machine.

In view of this, we propose a mineral sizer phase synchronization tracking control method to solve the problem that the existing mineral sizer with a forced synchronization system cannot be equipped with a retreat mechanism, making it inconvenient to remove materials that cannot be crushed. Moreover, for the mineral sizer that can be equipped with a retreat mechanism, the phase and rotational speed are not easy to synchronize. Problems affecting the crushing efficiency.

Mineral sizer, including a first crushing toothed roller driven by a tracking control motor, a second crushing toothed roller driven by a tracking target motor, a detection device, and a control device: The detection device is used to detect the rotational speed and phase of the first crushing toothed roller and the second crushing toothed roller: The control device is connected to the detection device and is used for variable structure control. By adjusting the rotational speeds of the first crushing toothed roller and the second crushing toothed roller, the phase synchronization of the two toothed rollers is achieved. [0009] further, in the mineral sizer, the control device includes a sequentially connected control signal input module, a variable structure sliding film control module, a system multiple disturbance input module, a control signal output module; and, a feedback control module connected between the control signal output module and the variable structure sliding film control module. In mineral sizer, the control device also includes: Feedforward control module: The feedforward control module is connected between the control signal input module and the variable structure sliding membrane control module. In the tooth roller mineral sizer, the variable structure sliding film control module is determined in the following way: According to the nonlinear characteristics of the tracking control motor, the state equation and phase plane topology of the autonomous system of the tracking control motor are constructed, and the hyperbolic structure of the saddle point and the helical line topology of the focus are selected as the variable structure sliding film controller. In the mineral sizer, the variable structure sliding membrane control module consists of a connected control unit and a switching unit. The control unit and the switching unit are used to guide the movement of the mineral sizer onto a manifold, and the movement of the mineral sizer on the manifold is asymptotically stable. Furthermore, in the mineral sizer, the feedback control module is used to calculate the error amount based on the rotational speed and phase of the system output and input detected by the step size at the previous time, and determine the adjustment amount of the rotational speed at the current moment delivered to the variable structure sliding film control module based on the error amount. Furthermore, in the mineral sizer, the detection device includes a rotational speed sensor and a phase sensor: The rotational speed sensor is installed at the outer extension end of the low-speed shaft of the reducer; the phase sensor is installed at the secondary high-speed shaft of the reducer. The mineral sizer of the present invention can implement phase synchronous tracking control on two independently controlled mineral sizers with the yielding mechanism installed. Based on the multiple nonlinear characteristics and multiple uncertain factors of the mineral sizer and based on variable structure control, the phase synchronization of the two toothed rollers is achieved by adjusting the rotational speeds of the first crushing toothed roller and the second crushing toothed roller, thereby realizing the synchronous tracking of the rotational speed and phase of the complex control object.