C型料场刮板机取料速度控制方法与系统开发  

Control method and system development of reclaim speed for C-type stockyard scraper

作　　者：吉孟扬 郭宇[2] 李曦 谢祖华[4] JI Mengyang;GUO Yu;LI Xi;XIE Zuhua(Xi’an Jiaotong University,Faculty of Electronic and Information Engineering,Xi’an 710000,Shaanxi,China;Xi’an Jiaotong University,College of Artificial Intelligence,Xi’an 710000,Shaanxi,China;Zhongye Changtian International Engineering Co.,Ltd.,Changsha 410205,Hunan,China;Kunming Iron and Steel Co.,Ltd.,Wuhan Iron and Steel Group,Kunming 650302,Yunnan,China)

机构地区：[1]西安交通大学电子与信息学部,陕西西安710000 [2]西安交通大学人工智能学院,陕西西安710000 [3]中冶长天国际工程有限责任公司,湖南长沙410205 [4]武钢集团昆明钢铁股份有限公司,云南昆明650302

出　　处：《烧结球团》2024年第5期80-87,116,共9页Sintering and Pelletizing

基　　金：陕西省重点研发计划资助项目(2024GX-YBXM-141)。

摘　　要：在C型料场刮板机自动化作业过程中,取料过快经常导致刮板机跳闸故障,取料过慢会导致供料不足、效率低等问题。对此,本文提出一种基于点云模型的C型料场刮板机取料速度控制方法,并在某C型料场现场试验验证,该控制方法步骤:(1)获取料堆点云数据和形状,将其转换为高度灰阶图,并采用一种新型点云过滤算法降低其噪声、提高平滑度;(2)基于刮板机链板恒定条件建立物料流量模型,结合能量转换构建刮板机电流-速度模型,将模型结果实时写入刮板机PLC中,进而实时控制刮板机取料速度。结果表明:使用该模型,料堆点云模型的内存资源降低98.64%,点与点之间形成有效的拓扑关系,计算的复杂度降低,料堆点云模型的平滑度显著提高;刮板机作业时料流的流量波动在8.29%内,刮板机的设备故障率减少5.24%,生产效率提高9.68%。本文提出的取料速度控制方法可用于替代人工调节刮板机的取料速度,减少刮板机的作业故障,提高生产效率,有效提高设备的无人化、智能化水平,并可为各种刮板机取料速度控制与作业稳定性控制提供参考。In the process of automatic operation of the scraper in the C-type stockyard,too fast reclaim often leads to the tripping failure of the scraper,and too slow reclaim will lead to insufficient material supply and low efficiency.A method for controlling the reclaim speed of C-type stockyard scraper based on point cloud model is proposed,and it is verified in the field test of a C-type stockyard,the control method steps:1) The data and shape of the point cloud of the stockpile are obtained,and the height grey scale picture is converted,and a new point cloud filtering algorithm is used to reduce its noise and improve its smoothness;2) The material flow model is established based on the constant condition of the scraper chain plate,and the current-speed model of the scraper is constructed in combination with energy conversion,and the model results are written into the scraper PLC in real time,and then the scraper reclaim speed is controlled in real time.The results show that,using this model,the memory resources of the stockpile point cloud model are reduced by 98.64%,an effective topological relationship is formed between points,the complexity of calculation is reduced,and the smoothness of the stockpile point cloud model is significantly improved;the flow fluctuation of the material flow during the operation of the scraper is within 8.29%,the equipment failure rate of the scraper is reduced by 5.24%,and the production efficiency is increased by 9.68%.The reclaim speed control method proposed in this paper can be used to replace the manual adjustment of the reclaim speed of the scraper,reduce the operation failure of the scraper,improve the production efficiency,effectively improve the unmanned and intelligent level of the equipment,and provide references for the control of the reclaim speed and operation stability of various scrapers.

关 键 词：C型料场 点云模型 速度控制 均匀料流 刮板机速度 

分 类 号：TF04[冶金工程—冶金物理化学] TP399[自动化与计算机技术—计算机应用技术]