基于PLC的跳汰机自动控制系统的研制
摘要
针对国内跳汰选煤行业的现状,确定以选煤厂的跳汰机为研究对象。传统的跳汰机控制系统多采用人工估量床层厚度和手动设定控制参数,存在生产工艺控制能力、自动化程度及生产效率低等问题,从实际应用角度出发设计研制一种符合生产应用要求的跳汰机自动控制系统势在必行。本课题对跳汰机的自动控制过程、控制算法以及控制系统的实现作了深入研究。
(1)根据选煤厂跳汰选煤过程中的应用要求提出了跳汰机控制系统的总体设计方案,分析了跳汰机的工作机理和跳汰选煤的工艺过程。
(2)跳汰机床层分层的检测一直是选煤行业的难题,本课题在充分调研分析选煤过程和床层分层理论的基础上,提出了一种床层松散度的定义方法,以此为基础设计了床层松散度的检测和实现方法,在实际应用中取得了良好的效果。
(3)跳汰选煤属于大滞后、模型不确定的系统,传统的方法难以有效的控制洗选效果,本课题重点设计了排料部分的模糊控制器,详细介绍了原理和设计过程,实现了精煤灰分的实时在线回控。
现场运行情况表明:基于PLC的跳汰机自动控制的控制策略是可行的。尽管该系统还需不断完善,但对稳定精煤灰分、减少精煤流失、提高产品质量与分选效率起了重要作用,取得了很好的经济效益。
Aming at the present condition of the local coal dressing, we chose the coal washery's jigger automatic control system as research object. The traditional jigger control system always use artifical control instruments, which has many problems such as lower craft control ability and efficiency. From the actual applied aspect, we designed and manufactured a kind of jigger automatic control system.Therefore, this study lucubrates the process control method and algorithms based on PLC to improve jigger efficiency.
(1) This thesis presents the detailed study on the integrated design of jigger control system, research mechanism and work process of coal dressing.
(2) Jigging machine-tiered testing has been a coal preparation industry problems. This thesis presents a kind of definition methods of bed loose,and establishes detection and implementation methods of bed loose.
(3)Multi-variable coupling each other,time-variant,heavy nonlinear characteristic are contained in jigging process.The effective control can not be achieved by conventional control theory and methods.This article studies the strategy and realized method of jigging process automation with Fuzzy-controller.
Operation result on site shows that jigger automatic control system based on PLC is feasible.Although this system needs improve constantly,this control system plays an important role in stabilizing cleaning coal ash content,decreasing cleaning coal loss,improving product quality and separation efficiency.
(1)根据选煤厂跳汰选煤过程中的应用要求提出了跳汰机控制系统的总体设计方案,分析了跳汰机的工作机理和跳汰选煤的工艺过程。
(2)跳汰机床层分层的检测一直是选煤行业的难题,本课题在充分调研分析选煤过程和床层分层理论的基础上,提出了一种床层松散度的定义方法,以此为基础设计了床层松散度的检测和实现方法,在实际应用中取得了良好的效果。
(3)跳汰选煤属于大滞后、模型不确定的系统,传统的方法难以有效的控制洗选效果,本课题重点设计了排料部分的模糊控制器,详细介绍了原理和设计过程,实现了精煤灰分的实时在线回控。
现场运行情况表明:基于PLC的跳汰机自动控制的控制策略是可行的。尽管该系统还需不断完善,但对稳定精煤灰分、减少精煤流失、提高产品质量与分选效率起了重要作用,取得了很好的经济效益。
Aming at the present condition of the local coal dressing, we chose the coal washery's jigger automatic control system as research object. The traditional jigger control system always use artifical control instruments, which has many problems such as lower craft control ability and efficiency. From the actual applied aspect, we designed and manufactured a kind of jigger automatic control system.Therefore, this study lucubrates the process control method and algorithms based on PLC to improve jigger efficiency.
(1) This thesis presents the detailed study on the integrated design of jigger control system, research mechanism and work process of coal dressing.
(2) Jigging machine-tiered testing has been a coal preparation industry problems. This thesis presents a kind of definition methods of bed loose,and establishes detection and implementation methods of bed loose.
(3)Multi-variable coupling each other,time-variant,heavy nonlinear characteristic are contained in jigging process.The effective control can not be achieved by conventional control theory and methods.This article studies the strategy and realized method of jigging process automation with Fuzzy-controller.
Operation result on site shows that jigger automatic control system based on PLC is feasible.Although this system needs improve constantly,this control system plays an important role in stabilizing cleaning coal ash content,decreasing cleaning coal loss,improving product quality and separation efficiency.
引文
[1]韦国锋,田海英等.床层松散度对动筛跳汰机分选效果的影响.选煤技术,2007,(4):23-24
[2]杨洁明,魏晋安等.基于γ射线密度探测的跳汰机床层松散度回归方法.仪器仪表学报,2007,(7):1300-1304
[3]李剑锋.采取完善的工艺设备大力发展洁净煤技术.煤矿机电,2007,(7):25-25
[4]明尚志.跳汰机测量与控制技术.工矿自动化,2005,(6):73-75
[5]谢广元等.选矿学.中国矿业大学出版社,2001
[6]李士勇,夏承光.模糊控制和智能控制理论与应用.哈尔滨工业大学出版社1990:89-124
[7]何衍庆,俞金寿.工业生产过程控制.化学工业出版社,2004
[8]H.A.萨梅林.跳汰理论及其应用.煤炭工业出版社,1982.
[9]刘金琨.先进PID控制MATLAB仿真(第2版).电子工业出版社,2004
[10]钟肇新编.可编程控制其原理及应用(第3版).华南理工大学出版社,2004
[11]李士勇.模糊控制、神经控制和专家控制论,哈尔滨工业大学出版社,1996
[12]佟绍成、王涛等.模糊控制系统的设计及稳定性分析.科学出版社,2004
[13]张仑.可编程控制器中PID控制的研究.电气电子教学学报,2005,(3):90-92
[14]武雪艳.基于模糊PID控制方法的跳汰机排料系统研究.硕士学位论文,2003
[15]颜学军.自动化跳汰机的研究.硕士学位论文,2004
[16]杨洁明.跳汰选煤过程的智能控制方法.博士学位论文,2004
[17]倪建军,孙伟,李明.跳汰精煤灰分在线回控系统的应用研究.选煤技术,2003,(6):112-116
[18]于海波.跳汰机实时分选密度测控及灰分闭环控制的探讨.选煤技术,2002,(2):16-17
[19]张荣曾,韦鲁滨,付晓恒.跳汰机中脉动水流流体动力学研究.煤炭学报,2002,(6):644-648
[20]杨康,娄德安.跳汰选煤技术与设备的发展.选煤技术,2003,(6):14-19
[21]侯亚飞,薛学明.SKT-14型数控风阀跳汰机的应用.煤炭技术,2005,(8): 26-32
[22]李军利,刘素芬等.跳汰机排料自动控制系统.太原理工大学学报,2001,(4):390-391
[23]李明,雷汝海等.跳汰机排料系统模糊控制.煤矿自动化,2001,(4):30-32
[24]李敏恒.跳汰机与测灰仪的闭环自动控制探讨.煤质技术,2004,(2):69-70
[25]东滩选煤厂跳汰机灰分在线回控,项目使用报告,2002.12
[26]樊民强,张荣曾.颗粒在跳汰床层中分布形态的研究.煤炭学报,2000,(6):62-65
[27]陶长林.国外选煤动态分析,选煤技术,1999,(3):66-69
[28]杨毅,吴力心.选煤与选矿过程参数的测试技术.中国矿业大学出版社,1990
[29]李贤国,张荣曾.重力选矿原理.煤炭工业出版社,1992
[30]孙庆刚.跳汰机新型排料装置的改进、试验研究及控制系统方案设计.安徽理工大学,2003
[31]严国彬.选煤厂机械设备安装使用与检修.煤炭工业出版社,1993
[32]陈云峰等.在线测灰仪在镇城底选煤厂的应用.西山科技,2001,(8):41-44
[33]朱凯.跳汰机自动排料装置在选煤厂的应用.选煤技术,2002,(3):52-54
[34]林明星,尹守仁.跳汰床层松散的模糊控制.煤矿自动化,2001,(2):17-18
[35]刘骏跃,PID参数的模糊整定器研究.机电工程,2001,18(4):65-67
[36]陈维山,赵杰.机电系统计算机控制.哈尔滨工业大学出版社,1999
[37]那肯等.跳汰机控制方面的研究与发展.空气脉动跳汰机发明100周年论文集,1992
[38]费林西克.跳汰选的历史和跳汰机的发展.空气脉动跳汰机发明100周年论文集,1992
[39]张荣曾.跳汰机床层松散与分层的流体动力学研究.煤炭学报,2003,(2):193-198.
[40]R.X.Rong,C.J.Wood,D.M.Hughes,Jig PerformanceAnalysis,Ⅶ Australia Coal Preparation Conference
[41]G.J.Lyman,Review of Jigging Principles and Control,Coal Preparation,Vol.11(314)
[42]T Satish,S Bukkapatnam,et al.Chaotic neurons for online quality control in manufacturing[J].Adv Manuf Technol,1997(13):95-100.
[43]Gupta,M.M.,Trojan,G.M.and Kiszka,J.B.,Controllability of Fuzzy Control Systems,IEEE Trans.Syst.Man Cybern.,1986,576-582.
[44]Katata R,de Geest D,Titli A.Fuzzy controller:design,evaluation,paralleland hierarchical combination with a PID Controller.Fuzzy Sets&Systems,1995,71:113-129
[45]Astrom K.J,Hagglund T.PID Controllers:Theory,Design and Tuning.ISA.1995
[46]Law C K.Using Fuzzy Numbers in Educational Grading System Fuzzy Sets and Systems.1996,83(3):311-324
[47]Cho K B.and Wang B H.Radial Basis Function Based on Adaptive Fuzzy Systems and Their Applications to System Identification and Prediction.Fuzzy Sets and Systems 1996,83(3):325-340
[48]Jieming Yang,Jinhong Wei.Application of fuzzy control method with self- tuning factor injigger's discharging.Journal of China Coal Society 2000,(6)
[49]Isaka S,Sebald A V.An optimization approach for fuzzy controller design.IEEE,Transaction SMC,1992,22(6):1469-1473
[50]鲍新福,都志杰.自整定比例因子模糊控制器.自动化学报,1987,(2):129-133
[51]三菱公司.特殊功能模块使用手册.2004
[52]三菱公司.F700通用变频器使用手册.2004
[53]三菱公司.FX2N使用手册.200l
[54]三菱公司.FX2N编程手册.2001
[2]杨洁明,魏晋安等.基于γ射线密度探测的跳汰机床层松散度回归方法.仪器仪表学报,2007,(7):1300-1304
[3]李剑锋.采取完善的工艺设备大力发展洁净煤技术.煤矿机电,2007,(7):25-25
[4]明尚志.跳汰机测量与控制技术.工矿自动化,2005,(6):73-75
[5]谢广元等.选矿学.中国矿业大学出版社,2001
[6]李士勇,夏承光.模糊控制和智能控制理论与应用.哈尔滨工业大学出版社1990:89-124
[7]何衍庆,俞金寿.工业生产过程控制.化学工业出版社,2004
[8]H.A.萨梅林.跳汰理论及其应用.煤炭工业出版社,1982.
[9]刘金琨.先进PID控制MATLAB仿真(第2版).电子工业出版社,2004
[10]钟肇新编.可编程控制其原理及应用(第3版).华南理工大学出版社,2004
[11]李士勇.模糊控制、神经控制和专家控制论,哈尔滨工业大学出版社,1996
[12]佟绍成、王涛等.模糊控制系统的设计及稳定性分析.科学出版社,2004
[13]张仑.可编程控制器中PID控制的研究.电气电子教学学报,2005,(3):90-92
[14]武雪艳.基于模糊PID控制方法的跳汰机排料系统研究.硕士学位论文,2003
[15]颜学军.自动化跳汰机的研究.硕士学位论文,2004
[16]杨洁明.跳汰选煤过程的智能控制方法.博士学位论文,2004
[17]倪建军,孙伟,李明.跳汰精煤灰分在线回控系统的应用研究.选煤技术,2003,(6):112-116
[18]于海波.跳汰机实时分选密度测控及灰分闭环控制的探讨.选煤技术,2002,(2):16-17
[19]张荣曾,韦鲁滨,付晓恒.跳汰机中脉动水流流体动力学研究.煤炭学报,2002,(6):644-648
[20]杨康,娄德安.跳汰选煤技术与设备的发展.选煤技术,2003,(6):14-19
[21]侯亚飞,薛学明.SKT-14型数控风阀跳汰机的应用.煤炭技术,2005,(8): 26-32
[22]李军利,刘素芬等.跳汰机排料自动控制系统.太原理工大学学报,2001,(4):390-391
[23]李明,雷汝海等.跳汰机排料系统模糊控制.煤矿自动化,2001,(4):30-32
[24]李敏恒.跳汰机与测灰仪的闭环自动控制探讨.煤质技术,2004,(2):69-70
[25]东滩选煤厂跳汰机灰分在线回控,项目使用报告,2002.12
[26]樊民强,张荣曾.颗粒在跳汰床层中分布形态的研究.煤炭学报,2000,(6):62-65
[27]陶长林.国外选煤动态分析,选煤技术,1999,(3):66-69
[28]杨毅,吴力心.选煤与选矿过程参数的测试技术.中国矿业大学出版社,1990
[29]李贤国,张荣曾.重力选矿原理.煤炭工业出版社,1992
[30]孙庆刚.跳汰机新型排料装置的改进、试验研究及控制系统方案设计.安徽理工大学,2003
[31]严国彬.选煤厂机械设备安装使用与检修.煤炭工业出版社,1993
[32]陈云峰等.在线测灰仪在镇城底选煤厂的应用.西山科技,2001,(8):41-44
[33]朱凯.跳汰机自动排料装置在选煤厂的应用.选煤技术,2002,(3):52-54
[34]林明星,尹守仁.跳汰床层松散的模糊控制.煤矿自动化,2001,(2):17-18
[35]刘骏跃,PID参数的模糊整定器研究.机电工程,2001,18(4):65-67
[36]陈维山,赵杰.机电系统计算机控制.哈尔滨工业大学出版社,1999
[37]那肯等.跳汰机控制方面的研究与发展.空气脉动跳汰机发明100周年论文集,1992
[38]费林西克.跳汰选的历史和跳汰机的发展.空气脉动跳汰机发明100周年论文集,1992
[39]张荣曾.跳汰机床层松散与分层的流体动力学研究.煤炭学报,2003,(2):193-198.
[40]R.X.Rong,C.J.Wood,D.M.Hughes,Jig PerformanceAnalysis,Ⅶ Australia Coal Preparation Conference
[41]G.J.Lyman,Review of Jigging Principles and Control,Coal Preparation,Vol.11(314)
[42]T Satish,S Bukkapatnam,et al.Chaotic neurons for online quality control in manufacturing[J].Adv Manuf Technol,1997(13):95-100.
[43]Gupta,M.M.,Trojan,G.M.and Kiszka,J.B.,Controllability of Fuzzy Control Systems,IEEE Trans.Syst.Man Cybern.,1986,576-582.
[44]Katata R,de Geest D,Titli A.Fuzzy controller:design,evaluation,paralleland hierarchical combination with a PID Controller.Fuzzy Sets&Systems,1995,71:113-129
[45]Astrom K.J,Hagglund T.PID Controllers:Theory,Design and Tuning.ISA.1995
[46]Law C K.Using Fuzzy Numbers in Educational Grading System Fuzzy Sets and Systems.1996,83(3):311-324
[47]Cho K B.and Wang B H.Radial Basis Function Based on Adaptive Fuzzy Systems and Their Applications to System Identification and Prediction.Fuzzy Sets and Systems 1996,83(3):325-340
[48]Jieming Yang,Jinhong Wei.Application of fuzzy control method with self- tuning factor injigger's discharging.Journal of China Coal Society 2000,(6)
[49]Isaka S,Sebald A V.An optimization approach for fuzzy controller design.IEEE,Transaction SMC,1992,22(6):1469-1473
[50]鲍新福,都志杰.自整定比例因子模糊控制器.自动化学报,1987,(2):129-133
[51]三菱公司.特殊功能模块使用手册.2004
[52]三菱公司.F700通用变频器使用手册.2004
[53]三菱公司.FX2N使用手册.200l
[54]三菱公司.FX2N编程手册.2001