CN-121979315-A - Belt conveyor tension control method based on sensing monitoring

CN121979315ACN 121979315 ACN121979315 ACN 121979315ACN-121979315-A

Abstract

The invention relates to the technical field of data processing, in particular to a belt conveyor tension control method based on sensing monitoring, which comprises the steps of obtaining a gain trend intensity value according to a variation characteristic of Kalman gain corresponding to a tension data sequence, obtaining a tension stability interval according to a data distribution characteristic of the tension data sequence, obtaining a continuous stability characteristic value according to a continuous characteristic and a data occupation characteristic of the tension data sequence in the tension stability interval, obtaining a data symmetry characteristic value according to a discrete characteristic of the tension data sequence outside the tension stability interval, and obtaining a tension estimation confidence according to the gain trend intensity value, the continuous stability characteristic value and the data symmetry characteristic value. According to the tension estimation method, the tension change estimated value at the current moment is obtained according to the tension estimation confidence and Kalman filtering, and the tension of the belt conveyor is adjusted through the PID controller according to the tension change estimated value, so that the running stability of the conveyor and the accuracy of tension adjustment are improved.

Inventors

GUO MEIQIN
PAN SHUQING
XING SIJIA
LIU DAN

Assignees

沙湾市智博瑞达电子科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260206

Claims (7)

1. A belt conveyor tension control method based on sensing monitoring, which is characterized by comprising the following steps: acquiring a tension data sequence before the current moment in the working process of the belt conveyor; Carrying out Kalman filtering on the tension data sequence to obtain Kalman gains at different moments; obtaining a gain trend intensity value according to the variation characteristics of the Kalman gain corresponding to the tension data sequence; Obtaining a tension stability interval according to the data distribution characteristics of the tension data sequence, obtaining a continuous stability characteristic value according to the continuous characteristics and the data occupation characteristics of the tension data sequence in the tension stability interval, and obtaining a data symmetry characteristic value according to the discrete characteristics of the tension data sequence outside the tension stability interval; the tension estimation confidence coefficient is obtained according to the gain trend intensity value, the continuous stable characteristic value and the data symmetry characteristic value, the tension change estimated value at the current moment is obtained according to the tension estimation confidence coefficient and Kalman filtering, and the tension of the belt conveyor is adjusted through a PID controller according to the tension change estimated value.
2. The method for controlling tension of a belt conveyor based on sensing and monitoring according to claim 1, wherein the step of obtaining a gain trend intensity value according to the variation characteristics of the kalman gain corresponding to the tension data sequence comprises: wherein R represents the intensity value of the gain trend, An exponential function based on a natural constant is represented, S represents the variance of the kalman gain corresponding to all moments in the tension data sequence, T represents the number of moments in the tension data sequence, Representing the difference in kalman gain between the time instant t and the previous time instant, A difference value of Kalman gain between the t time and the next time is represented; representing a judgment function when Is smaller than the constant value of 0, The value is constant 0, otherwise constant 1.
3. A belt conveyor tension control method based on sensing monitoring as in claim 1 wherein the step of obtaining tension stability intervals from data distribution characteristics of the tension data sequence comprises: and carrying out data segmentation on the tension data sequence by a box diagram method, and taking a data interval constructed by the first quartile and the third quartile as the tension stabilizing interval.
4. The method according to claim 1, wherein the step of obtaining a continuous stability characteristic value according to a continuous characteristic and a data occupation of the tension data sequence in the tension stability interval comprises: Wherein U represents a continuous stable characteristic value, An exponential function based on a natural constant is represented, N represents the number of moments distributed in the tension data sequence in the tension stabilizing interval, Indicating that the nth distribution in the tension data sequence is in tension stability interval and nth The time intervals distributed in the tension stabilizing section are T, the time quantity in the tension data sequence is represented by T, and the time quantity in the longest period continuously distributed in the tension stabilizing section in the tension data sequence is represented by H.
5. A belt conveyor tension control method based on sensing monitoring as in claim 1 wherein the step of obtaining data symmetry eigenvalues from discrete features of the tension data sequence outside the tension stability interval comprises: Calculating the difference value of the maximum value and the minimum value of the tension data sequence and carrying out negative correlation mapping to obtain an extremum distribution characteristic value, calculating the variance of data which is larger than the tension stabilizing interval in the tension data sequence to obtain a first variance, calculating the variance of data which is smaller than the tension stabilizing interval in the tension data sequence to obtain a second variance, calculating the absolute value of the difference value of the first variance and the second variance and carrying out negative correlation mapping to obtain a fluctuation consistency degree, and calculating the average value of the extremum distribution characteristic value and the fluctuation consistency degree to obtain the data symmetry characteristic value.
6. The method according to claim 1, wherein the step of obtaining a tension estimation confidence according to the gain trend intensity value, the continuous stable feature value, and the data symmetry feature value comprises: And calculating the product of the first numerical value and the gain trend intensity value to obtain the tension estimation confidence coefficient.
7. The method for controlling tension of a belt conveyor based on sensing and monitoring according to claim 1, wherein the step of obtaining the tension variation estimated value at the current moment according to the tension estimation confidence and kalman filtering comprises: and calculating the product of the first difference value and the tension estimation confidence coefficient to obtain a tension estimation change value at the current moment.

Description

Belt conveyor tension control method based on sensing monitoring Technical Field The invention relates to the technical field of data processing, in particular to a tension control method of a belt conveyor based on sensing monitoring. Background In the continuous material conveying process of the belt conveyor, the tension of the conveying belt directly influences the running stability, the safety and the service life of a conveying system, and the improper tension control can cause slipping, deviation, influence the conveying efficiency, aggravate the mechanical abrasion of parts such as the conveying belt, a roller and the like, and even cause structural damage. Therefore, in the running process of the conveyor, the tension of the conveyor belt is maintained in a reasonable range by a reasonable tension control mode, and the conveyor belt is an important means for guaranteeing the stable running of a conveying system. The tension control aims at enabling the tension of the conveyor belt to approach the level of a preset target tension, and the existing method generally inputs the deviation between the tension measurement value and the preset target tension into a PID controller, outputs a control command according to the tension deviation and adjusts the tension of the conveyor so as to gradually approach the expected tension value. In consideration of the influence of working condition disturbance and noise in the working process of the conveyor, a Kalman filtering algorithm is generally utilized to perform state estimation on data of the tension sensor, so that a relatively smooth and stable tension estimation value is obtained. However, in actual operation, the working condition of the belt conveyor has obvious complexity and time variability, for example, uneven distribution and abrupt change of material load can cause nonlinear change of the tension of the conveyor belt in a short time, the elastic characteristic and inertia of the conveyor belt can cause obvious transient change characteristic of the tension during start-stop and acceleration and deceleration, and meanwhile, factors such as aging of the conveyor belt, mechanical vibration and component abrasion can cause noise characteristic of the tension, so that the dynamic characteristic and noise of the system can cause difference of the estimation precision of Kalman filtering on the tension state in different time periods. If the deviation of the tension estimation value output by the Kalman filtering and the preset target tension is directly used as the input of the PID controller, the reliability difference of the estimation result under different working conditions is not distinguished, when the estimation accuracy is low, the tension deviation is easy to mix in an unreal variation component caused by noise fluctuation or transient disturbance, the PID has higher sensitivity to the input deviation, and the regulation and control action in the tension regulation and control process is easy to be frequent, the output fluctuation is increased, and the running stability of the belt conveyor and the accuracy of tension regulation and control are influenced. Disclosure of Invention In order to solve the technical problems, the invention aims to provide a belt conveyor tension control method based on sensing monitoring, which adopts the following technical scheme: acquiring a tension data sequence before the current moment in the working process of the belt conveyor; Carrying out Kalman filtering on the tension data sequence to obtain Kalman gains at different moments; obtaining a gain trend intensity value according to the variation characteristics of the Kalman gain corresponding to the tension data sequence; Obtaining a tension stability interval according to the data distribution characteristics of the tension data sequence, obtaining a continuous stability characteristic value according to the continuous characteristics and the data occupation characteristics of the tension data sequence in the tension stability interval, and obtaining a data symmetry characteristic value according to the discrete characteristics of the tension data sequence outside the tension stability interval; the tension estimation confidence coefficient is obtained according to the gain trend intensity value, the continuous stable characteristic value and the data symmetry characteristic value, the tension change estimated value at the current moment is obtained according to the tension estimation confidence coefficient and Kalman filtering, and the tension of the belt conveyor is adjusted through a PID controller according to the tension change estimated value. Further, the step of obtaining the gain trend intensity value according to the variation characteristic of the kalman gain corresponding to the tension data sequence includes: wherein R represents the intensity value of the gain trend, An exponential function based on a natural constant is represented, S repre