WO2019225557A1 - Rotating type crushing machine and method for controlling same - Google Patents

Abstract

A method for controlling a rotating type crushing machine includes: a step of setting at least one of a supply device and a set adjusting device as a manipulation target, measuring a load index which directly or indirectly represents a crushing load while the manipulation target is operating with a certain manipulated variable, and monitoring that the load index lies within a prescribed steady-state range; if the load index is outside the steady-state range, a step of using a prescribed control algorithm to obtain a new manipulated variable of the manipulation target, on the basis of the difference between a prescribed target value and the measured value of the load index; a step of operating the manipulation target in accordance with the new manipulated variable; a step of generating a response evaluation index of the load index generated by operating the manipulation target; and a step of evaluating the acceptability of the response on the basis of the response evaluation index, and adjusting at least one of the control parameters of the control algorithm if the response is not acceptable.

Description

Rotating crusher and control method thereof

The present invention relates to a rotary crusher used for crushing rocks and ores and a control method thereof.

Conventionally, there has been known a rotary crushing machine in which a frustum-shaped mantle arranged inside a conical tube-shaped concave is eccentrically swung, and the object to be crushed is caught between the concave and the mantle to be crushed. ing. The gap between the two crushing surfaces of the concave and the mantle changes periodically, and the particle size of the pulverized product is determined by the size of the set (open) at the narrowest position of the gap. The rotary crusher is classified into a hydraulic type and a mechanical type according to a method of changing a set.

Patent Document 1 discloses a hydraulic turning crusher. This rotary crusher includes a drive motor that drives the mantle to rotate, and a hydraulic cylinder that moves the mantle up and down relative to a fixed concave. In this rotary crusher, when the power consumed by the electric motor exceeds the set power, the mantle is lowered by draining oil from the hydraulic cylinder for a predetermined time. Also. When the power consumption of the electric motor falls below the set power, the predetermined cylinder is lubricated for a predetermined time and the mantle is raised.

Patent Document 2 discloses a hydraulic rotary crusher. This rotary crusher has a supply amount of the material to be crushed to the hopper provided above the crushing chamber, a level amount of the material to be crushed in the hopper, a hydraulic pressure of the hydraulic cylinder, a current value of the electric motor, Operation is controlled by the interrelationship of the set of two crushing surfaces.

Patent Document 3 discloses a hydraulic rotary crusher. In this rotary crusher, the supply amount of the object to be crushed to the hopper is adjusted so that the level of the object to be crushed in the hopper detected by the level sensor is kept constant. Further, in this rotary crusher, when the load current of the electric motor detected during operation reaches the upper limit of the set current value, the hydraulic cylinder is discharged from the hydraulic cylinder until the detected lowering amount of the hydraulic cylinder reaches the set lift value. Oiled.

Patent Document 4 discloses a mechanical rotary crusher. This rotary crusher includes a mantle, a concave support having a concave portion fixed inside, a screw mechanism and an electric motor, and a drive device that raises and lowers the concave relative to the mantle by rotating the concave support. . In this rotary crusher, the set is measured based on the amount of movement of the concave that is raised and lowered by the screw mechanism, and the set is remotely operated based on the measured value.

JP-A-53-137467 Japanese Patent Laid-Open No. 55-5718 Japanese Patent Laid-Open No. 10-272375 JP-A-6-154630

In order to operate the rotary crusher stably, the crushing chamber formed between the concave and the mantle must be fully filled with the material to be crushed (chalk feed). However, the time required for the material to be crushed to pass through the crushing chamber varies depending on the properties of the material to be crushed (for example, the particle size of the material to be crushed and the amount of moisture adhering). Difficult to maintain. For example, in Patent Document 3, the supply amount of the object to be crushed is adjusted by a level switch provided in the hopper so that the level amount of the object to be crushed is kept constant. .

Also, in the rotary crusher, even if the choke feed is maintained, the load may fluctuate due to fluctuations in the properties of the material to be crushed and the amount of moisture. Furthermore, in a rotary crusher, overloading may occur due to the biting of foreign matter or the packing phenomenon of objects to be crushed. For example, in Patent Document 2, the magnitude of the load is determined based on the hydraulic pressure of the hydraulic cylinder and the current value of the electric motor, and the set is adjusted based on the determination result. Here, until the set detection value reaches the target value, ON / OFF control is performed to repeat the lubrication (or drainage) for a predetermined time to the hydraulic cylinder.

As described above, the control for stably operating the rotary crusher has been proposed, but even so, it is difficult to continue the stable operation, and eventually it depends on the intuition of skilled workers. Adjustment of driving is performed. The present invention has been made in view of the above circumstances, and an object thereof is to propose a rotary crusher and a control method therefor capable of realizing stable operation.

The inventors of the present application consider controlling at least one of the set of the rotary crusher and the supply amount of the object to be crushed using a control algorithm including proportional control (P control) instead of on-off control. doing. Thereby, the hunting phenomenon peculiar to on-off control can be avoided. However, since appropriate control parameters change due to fluctuations in the properties of the object to be crushed and the amount of moisture, problems arise such as the response being disturbed during tuning and the stable response after tuning being unable to continue.

Therefore, the rotary crusher according to one aspect of the present invention is
A cone-shaped concave,
A frustoconical mantle disposed inside the concave;
An electric motor for causing the mantle to rotate eccentrically;
A hopper for putting a material to be crushed into a crushing chamber formed between the concave and the mantle;
A supply device for supplying the material to be crushed to the hopper;
A load measuring device for measuring a load index directly or indirectly representing a crushing load;
A set adjusting device for displacing one of the concave and the mantle with respect to the other in order to change a set of the concave and the mantle;
A control device for controlling the set adjustment device and the supply device;
The controller is
In a state where at least one of the supply device and the set adjustment device is an operation target, and the operation target is operating corresponding to a certain operation amount, the load index measured by the load measuring instrument is a predetermined steady state. A load monitoring unit for monitoring that it is within the range;
A manipulated variable for obtaining a new manipulated variable based on a deviation between a predetermined target value and a measured value of the load index using a predetermined control algorithm for the operation target when the load index is out of the steady range. An arithmetic unit;
An operation control unit for operating the operation target in accordance with the new operation amount;
A response evaluation index generation unit that generates a response evaluation index of the load index generated by an operation corresponding to the new operation amount of the operation target;
And a tuning unit that evaluates the quality of the response based on the response evaluation index and adjusts at least one of the control parameters of the control algorithm when the response is not good.

In addition, the control method of the rotary crusher according to one aspect of the present invention,
A conical tube-shaped concave, a truncated cone-shaped mantle arranged inside the concave, an electric motor for rotating the mantle eccentrically, and a crushing chamber formed between the concave and the mantle. Displacement of one of the concave and mantle with respect to the other in order to change a set of a hopper for charging an object, a supply device for supplying the crushed material to the hopper, and the concave and the mantle A control method for a rotary crusher comprising a set adjusting device
When at least one of the supply device and the set adjustment device is an operation target, and the operation target is operating corresponding to a certain operation amount, a load index that directly or indirectly represents a crushing load is measured. Monitoring that the load index is within a predetermined steady state range;
Obtaining a new manipulated variable based on a deviation between a predetermined target value and a measured value of the load index using a predetermined control algorithm for the operation target when the load index is out of the steady range; ,
Operating the operation object in accordance with the new operation amount;
Generating a response evaluation index of the load index generated by an action corresponding to the new operation amount of the operation target;
And evaluating the quality of the response based on the response evaluation index and adjusting at least one of the control parameters of the control algorithm when the response is not good.

According to the above-mentioned rotary crusher and its control method, when the control response based on the control algorithm is not good, that is, the control parameters that have been used so far due to disturbances such as changes in the properties of the object to be crushed When is not an appropriate value, the control parameter is automatically adjusted to an appropriate value. Thereby, even if disturbance arises, continuation of the stable driving | operation of a rotary crusher is realizable.

In the rotary crusher, the response evaluation index generation unit creates a response waveform of the load index generated by the operation of the operation target, and adds a response waveform from the target value over a predetermined parameter adjustment period. A side deviation integrated value and a minus side deviation integrated value may be obtained, respectively, and the tuning unit may evaluate the quality of the response based on the plus side deviation integrated value and the minus side deviation integrated value.

Similarly, in the control method of the rotary crusher, the step of generating the response evaluation index creates a response waveform of the load index generated by the operation of the operation target, and the response over a predetermined parameter adjustment cycle. The step of adjusting at least one of the control parameters includes obtaining a plus-side deviation accumulated value and a minus-side deviation accumulated value from the target value of the waveform, respectively, wherein the plus-side deviation accumulated value and the minus-side deviation accumulated It may include evaluating the quality of the response based on the integrated value.

Thus, it is possible to easily and accurately evaluate whether or not the value of the control parameter of the control algorithm is an appropriate value.

In the above-described rotary crusher and its control method, the control algorithm includes a proportional (P: Proportional) control algorithm, a proportional-integral (PI) control algorithm, and a proportional-integral-derivative (PID). It may be one selected from the group comprising a control algorithm and a proportional-derivative-feedback (PDF) control algorithm.

In the rotary crusher and the control method thereof, the load index may be a value of power consumption of the electric motor.

Alternatively, in the rotary crusher and the control method thereof, the load index may be a crushing pressure applied to the mantle. In this case, the rotary crusher may further include a hydraulic cylinder that receives a crushing pressure applied to the mantle, and the load index may be a hydraulic pressure value of the hydraulic oil in the hydraulic cylinder. Alternatively, the rotary crusher may further include a thrust bearing that supports the mantle, and the load index may be a value of a lubricating oil supply pressure of the thrust bearing.

As described above, the load index can be appropriately selected from a plurality of candidates according to the specific configuration of the rotary crusher, the object to be crushed, and the like.

According to the present invention, it is possible to propose a rotary crusher that can realize continuous operation and a control method thereof.

FIG. 1 is a diagram showing a schematic configuration of a rotary crusher according to an embodiment of the present invention. FIG. 2 is a diagram showing a configuration of a control system of the rotary crusher shown in FIG. FIG. 3 is a flowchart (front part) showing a flow of processing of the crushing load control according to the first example. FIG. 4 is a flowchart (middle part) showing a flow of processing of crushing load control according to the first example. FIG. 5 is a flowchart (rear part) showing a flow of processing of the crushing load control according to the first example. FIG. 6 is a graph showing an example of a response waveform of a load index. FIG. 7 is a flowchart (front stage) showing a flow of processing of crushing load control according to the second example. FIG. 8 is a flowchart (middle part) showing a flow of processing of crushing load control according to the second example. FIG. 9 is a flowchart (rear stage) showing a flow of processing of crushing load control according to the second example. FIG. 10 is a diagram illustrating a schematic configuration of a rotary crusher according to a modification.

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a rotary crusher 1 according to an embodiment of the present invention.

[Schematic configuration of the rotary crusher 1]
As shown in FIG. 1, the rotary crusher 1 includes a hopper 2 that stores a crushed object, a supply device 4 that supplies the crushed object to the hopper 2, and a crushed object dropped from the hopper 2. The mantle 13 and the concave 14 to be crushed, the electric motor 8 that is a turning drive means of the mantle 13, the power transmission mechanism 80 that transmits the rotational power from the electric motor 8 to the mantle 13, and the mantle 13 are raised and lowered with respect to the concave 14. A set adjusting device 10 and a control device 9 that controls the operation of the rotary crusher 1 are provided.

The rotary crusher 1 further includes a frame 3 including a top frame 31 and a bottom frame 32. A conical cylindrical concave 14 is provided on the inner periphery of the top frame 31. A truncated cone-shaped mantle 13 is disposed inside the concave 14. A crushing chamber 16 having a wedge-shaped vertical cross section is formed between the crushing surface of the concave 14 and the crushing surface of the mantle 13 facing each other with a gap.

The hopper 2 is arranged on the top of the top frame 31. The supply device 4 includes, for example, a conveyor (not shown) and the like, and the supply amount of the object to be crushed to the hopper 2 can be adjusted. The electric motor 41 which is a 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 a mantle door 12 fixed to the upper part of the main shaft 5. The main shaft 5 is disposed in the frame 3 with its axis inclined from the vertical direction. The upper end of the main shaft 5 is rotatably supported by an upper bearing 34 provided at the upper end portion of the top frame 31. A lower portion 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 an outer bush 53 provided on the bottom frame 32. The lower part of the eccentric sleeve 52 is supported by a slide bearing 66 provided on the cylinder tube 63 of the hydraulic cylinder 6. The lower end of the main shaft 5 is supported by a slide bearing 62 provided on 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 and a torque sensor 26 for detecting the output torque. 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 an eccentric sleeve 52 that extends from the horizontal shaft 83. A bevel gear transmission mechanism 84 for transmitting rotational power to When the eccentric sleeve 52 rotates in response to the output of the electric motor 8, the main shaft 5 inserted into the eccentric sleeve 52 rotates eccentrically. Thereby, an eccentric turning motion, that is, a so-called precession motion is performed on the concave 14 where the mantle 13 is fixed. Due to the eccentric turning motion of the mantle 13, the set (opening) of the crushing surface of the mantle 13 and the crushing surface of the concave 14 changes according to the turning position of the main shaft 5.

The rotary crusher 1 according to this embodiment includes a hydraulic cylinder 6 as a set adjustment device 10. The operation of the hydraulic cylinder 6 causes the mantle 13 to move up and down with respect to the concave 14 to change the set (closed set) at the narrowest position of the gap between the two crushing surfaces of the concave 14 and the mantle 13. The hydraulic cylinder 6 also has a function as pressure receiving means for receiving a crushing pressure applied to the mantle 13.

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

In the cylinder tube 63, a hydraulic chamber 65 whose capacity is changed by the displacement of the ram 61 is formed, and the hydraulic circuit 7 is connected to the hydraulic chamber 65. When the hydraulic oil in the oil tank 67 is supplied to the hydraulic chamber 65 through the hydraulic circuit 7, the ram 61 rises. Further, the hydraulic oil in the hydraulic chamber 65 is discharged to the oil tank 67 through the hydraulic circuit 7, so that the ram 61 is lowered.

The hydraulic circuit 7 includes a communication pipe 71 that communicates with the lower portion of the hydraulic chamber 65, an accumulator 72 (or balance cylinder) provided in the communication pipe 71, an oil supply pipe 73 that is connected to the communication pipe 71, and an oil supply pipe 73. And an oil drain pipe 74 connected to the. However, the configuration of the hydraulic circuit 7 is not limited to this embodiment. The oil supply pipe 73 is provided with a strainer 75, a gear pump 76, a check valve 77, and a normally closed shut-off valve 78 in order from the upstream side along the flow of hydraulic oil from the oil tank 67 to the hydraulic chamber 65. Yes. 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. The hydraulic chamber 65, the communication pipe 71, or the oil supply pipe 73 is further provided with a pressure sensor 24 that detects the pressure of the hydraulic oil in the hydraulic chamber 65. The oil drain pipe 74 is connected between the check valve 77 and the shutoff valve 78 in the oil supply pipe 73. The oil drain pipe 74 is provided with a normally closed shut-off valve 79.

[Configuration of the control system of the rotary crusher 1]
FIG. 2 is a diagram illustrating a configuration of a control system of the rotary crusher 1. As shown in FIG. 2, various instruments including a set sensor 23, a pressure sensor 24, a rotation speed sensor 25, and a torque sensor 26 are connected to the control device 9 in a wired or wireless manner so that signals can be transmitted and received (or transmitted). It is connected. The control device 9 includes 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. However, they are connected by wire or wireless so that signals can be transmitted and received.

The control device 9 is a so-called computer, and includes an arithmetic processing unit such as a CPU and a storage unit such as a ROM and a RAM (none of which are shown). The storage unit stores programs executed by the arithmetic processing unit, various fixed data, and the like. The arithmetic processing unit performs data transmission / reception with an external device. The arithmetic processing unit inputs detection signals from various sensors and outputs control signals to each control target.

The control device 9 includes functional units such as a load monitoring unit 91, an operation amount calculation unit 92, an operation control unit 93, a response evaluation index generation unit 94, and a tuning unit 95. The operation control unit 93 includes a control unit that controls the operation of the supply device 4, a control unit that controls the operation of the set adjustment device 10 (hydraulic cylinder 6), and a control unit that controls the operation of the electric motor 8. In the control device 9, the arithmetic processing unit reads and executes software such as a program stored in the storage unit, so that the processing as the functional unit is performed. The control device 9 may execute each process by centralized control by a single computer, or may execute each process by distributed control by cooperation of a plurality of computers. Moreover, the control apparatus 9 may be comprised from the microcontroller, the programmable logic controller (PLC), etc.

[Operation method of the rotary crusher 1]
Here, an operation method of the rotary crusher 1 having the above configuration will be described. In starting the operation of the rotary crusher 1, the control device 9 operates the set adjusting device 10 so that the set (closed set) becomes the initial set value. The initial set value of the set is set in advance according to the object to be crushed or the particle size of the crushed object. Based on the detection value of the set sensor 23, the control device 9 operates the set adjustment device 10 so that the set becomes the initial set value. When the set is larger than the initial set value, the control device 9 opens the shut-off valve 78, operates the pump motor 68, and supplies oil to the hydraulic chamber 65. Further, when the set is smaller than the initial set value, the control device 9 opens the shut-off valve 78 and the shut-off valve 79 and discharges oil from the hydraulic chamber 65.

Subsequently, the control device 9 activates the electric motor 8 and activates the supply device 4. By the operation of the supply device 4, the object to be crushed is put into the crushing chamber 16 through the hopper 2, crushed between the concave 14 and the mantle 13 moving eccentrically, and recovered as a crushed product from the bottom of the bottom frame 32. The

During the operation of the rotary crusher 1 as described above, the crushing load fluctuates due to disturbances such as the properties and moisture content of the material to be crushed and the level of the material to be crushed in the hopper 2. Here, the “crushing load” means a load applied to the output shaft 81 of the electric motor 8 as the object to be crushed is crushed. Note that, when an overload of a predetermined value or more occurs on the output shaft 81, the electric motor 8 is locked in rotation by the operation of the overload protection circuit when the rotation of the output shaft 81 is locked. Therefore, the rotary crusher 1 includes a load measuring device that measures a load index I that directly or indirectly represents the crushing load, and the control device 9 monitors the load index I measured during the crushing operation. Crushing load control is performed to adjust at least one of the supply amount of the object to be crushed by the supply device 4 and the set by the set adjustment device 10 so that the load index I is maintained within a predetermined steady range.

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

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

Also, the crushing load has a correlation 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.

Moreover, the crushing load has a correlation 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, as the load index I, at least one of the product value of the rotation speed and the output torque, the drive current value of the electric motor 8, the power consumption value of the electric motor 8, and the crushing pressure value is adopted. can do. Then, according to 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 control device 9]
3 to 5 are flowcharts showing the flow of processing of crushing load control by the control device 9. Hereinafter, the flow of the crushing load control process performed by the control device 9 will be described with reference to FIGS. 3 to 5. The crushing load control is started after the rotational crusher 1 is started and after the driving current value and the crushing pressure are stabilized at predetermined steady operating values, that is, after entering the steady state. The

<First example of crushing load control>
First, the first example of crushing load control will be described. In this example, a proportional-integral-derivative (PID) control algorithm is adopted as a control algorithm for crushing load control. However, the control algorithm of the crushing load control is not limited to this example, and a proportional (P: Proportional) control algorithm, a proportional integral (PI) control algorithm, a proportional integral differential control algorithm, and a proportional differential feedback ( Any one selected from a control algorithm group including a PDF (Proportional-Derivative-feedback) control algorithm may be used.

In the control device 9, a load index I and an operation target are set in advance, and various numerical values used for control including a load index target value _IT and an initial control parameter of a control algorithm are set in advance. As described above, the load index I is a measured value that directly or indirectly represents the crushing load, and is a product value of the rotation speed and the output torque, a drive current value of the electric motor 8, and the electric motor 8. Any one of the power consumption value and the crushing pressure value may be used. Further, the operation target is at least one of the supply device 4 and the set adjustment device 10, and in this example, the operation target is the supply device 4.

The operation target is operated with a certain operation amount MV by the operation control unit 93 of the control device 9 and operates corresponding to the operation amount MV (or is in a state corresponding to the operation amount MV). When the crushing load control is started, the control device 9 acquires the load index I measured by the load measuring instrument (step S1), and monitors that the load index I is within a predetermined steady range (step S2). More specifically, the load monitoring unit 91 of the control device 9 acquires the load index I from the load measuring device, and the load index I ranges from a predetermined steady range lower threshold _ILO to a predetermined steady range upper threshold _IHI. And whether it is below the no-load state threshold I _LL . Controller 9, if the load index I is constant range, or, the load index I is if falls below the no-load state threshold I _LL (YES in step S2), and continues monitoring returns to step S1.

On the other hand, the control unit 9, the load index I is if it is outside the normal range (NO in step S2), and starts measuring the PID control time T ₁ in the timer (step S3). If the PID control time T ₁ (that is, the elapsed time since the start of time measurement) is less than the predetermined PID control cycle T _1s (NO in step S4), the control device 9 returns to step S1 and performs monitoring. continue. On the other hand, the control unit 9, if the PID control time T ₁ is PID control period T _1s or more (YES in step S4), and the PID control time T ₁ is reset to 0 (step S5), and the next step S6 move on.

In step S6, the control unit 9 determines a new manipulated variable MV _n by using a control algorithm and a load index I and the load index target value I _T. More specifically, the operation amount calculation unit 92 of the control device 9, the deviation e _n of utilizing a control algorithm load index I (control quantity) and the load indicator target value I _T (target value), the integral and derivative The operation amount difference ΔMV _n is obtained from these three elements, and a new operation amount MV _n is obtained by adding the operation amount difference ΔMV _n to the current operation amount MV _n−1 .

Further, the control device 9 compares the new operation amount MV _n with the predetermined operation amount maximum value MV _HI, and if the new operation amount MV _n is larger than the operation amount maximum value MV _HI (YES in step S7). The operation amount maximum value MV _HI is set as a new operation amount MV _n (step S8). If the new operation amount MV _n is less than the predetermined operation amount minimum value MV _LO (YES in step S9), the control device 9 sets the operation amount minimum value MV _LO as the new operation amount MV _n (step S9). S10). If the new operation amount MV _n is an appropriate value not less than the operation amount minimum value MV _{LO and not} more than the operation amount maximum value MV _HI (NO in step S7 and NO in step S9), the new operation amount MV _n is set. The operation amount minimum value MV _LO and the operation amount maximum value MV _HI are not substituted. Then, the control device 9 updates the operation amount MV with the new operation amount MV _n (step S11).

Controller 9 operates the operation target in response to a new manipulated variable MV _n (step S12). More specifically, the operation control unit 93 of the control device 9 outputs an operation command to the operation target based on the new operation amount MV _n and operates the operation target. When the operation target is the set adjustment device 10, the set value changes corresponding to the new operation amount MV _n of the hydraulic cylinder 6. Further, when the operation target is the supply device 4, the supply amount of the object to be crushed to the hopper 2 changes corresponding to the new operation amount MV _n of the supply device 4.

When the operation target operates corresponding to the new operation amount MV _n as described above, a response of the new operation amount MV _n appears in the load index I. Response evaluation index generation unit 94 of the controller 9, the load index I _n caused by the new manipulated variable MV _n is obtained from the load meter, it creates a response waveform of the load index I (step S13), and step S1 Go back to and continue monitoring.

The control device 9 generates a response evaluation index using the response waveform. FIG. 6 is a graph showing an example of the response waveform. In this graph, the vertical axis represents the load index I, and the horizontal axis represents the elapsed time. Note that overshoot and hunting occur in the response waveform of FIG.

In parallel with step S2, the control device 9 determines whether or not the acquired load index I is larger than the no-load state threshold I _LL (step S14). The controller 9, when the load index I is less than the no-load state threshold I _LL (NO at step S14), and the process proceeds to step S33, and the positive deviation integrated value Sigma] e n ₊ and negative deviation accumulated value Sigma] e _n- After resetting to 0 (steps S33 and S34), the process returns to step S1. On the other hand, if the load index I exceeds the no-load state threshold I _LL (YES in step S14), the control device 9 determines that the response evaluation index generation unit 94 of the control device 9 has a deviation with respect to the response waveform of the load index I. positive deviation accumulated value from the load indicator target value I _T integration time T ₂ Sigma] e n ₊ was calculated, to update it (step S15). In the response waveform of FIG. 6, the plus-side deviation integrated value Σen ₊ is indicated by the area of the hatching area rising to the right. Similarly, the response evaluation index generation unit 94 of the controller 9, the response waveform of the load index I, the negative difference cumulative value Sigma] e _n-from the load indicator target value I _T of the deviation integration time T ₂ is calculated, it Is updated (step S16). In response waveform of FIG. 6, indicated by the area of the right-down hatched area negative difference cumulative value Sigma] e _n-. The parameter adjustment cycle if middle load index I of T _2s is below the no-load state threshold I _LL, positive deviation accumulated value Sigma] e n ₊ and negative deviation accumulated value Sigma] e _n-0 is reset (step S33, After S34), the process returns to step S1, and the generation of the response evaluation index is interrupted. If the load index I again exceeds the no-load state threshold I _LL , the process proceeds to step S15, and the generation of the response evaluation index is resumed.

Controller 9 starts measuring the difference cumulative time T ₂ (step S17). If the deviation integrated time T ₂ (that is, the elapsed time since the start of time measurement) is less than the predetermined parameter adjustment period T _{2 s} (NO in step S18), the control device 9 returns to step S1 and performs processing. repeat. On the other hand, the control unit 9, if the deviation accumulated time T ₂ parameter adjustment cycle T _2s or more (step S18 YES in) difference cumulative time T ₂ after having a 0 (step S19), the next step S20, Proceeding to S25 and S27, tuning of control parameters is started.

The tuning unit 95 of the control device 9 compares the plus side deviation integrated value Σen ₊ of the parameter adjustment period T _2s with a predetermined first plus side threshold value E ₁₊ (step S20), and the minus side of the parameter adjustment period T _2s . deviation accumulated value Sigma] e _n-and a predetermined first negative threshold E is compared with ₁ (step S21). Tuning unit 95, positive deviation accumulated value Sigma] e n ₊ is greater than the first positive threshold E ₁₊ (Step S20 YES), and, from the negative deviation accumulated value Sigma] e _n-first negative threshold E _1- when smaller (YES in step S21), and detects hunting to generate a new proportional gain Kp _n with reduced proportional gain Kp by a predetermined first proportional gain adjustment amount (step S22). Here, the tuning unit 95, when a new proportional gain Kp _n is smaller than a predetermined proportional gain minimum value Kp _LO (YES in step S23), and the proportional gain minimum value Kp _LO new proportional gain Kp _n (Step S24). Then, the tuning unit 95 updates the proportional gain Kp by a new proportional gain Kp _n (step S32), the plus-side difference cumulative value Sigma] e _{n +} and negative deviation accumulated value Sigma] e _n-zero (step S33, S34 ), The process returns to step S1.

Tuning unit 95 compares the ₂ negative deviation accumulated value Sigma] e _n-second negative threshold E (step S25). Tuning unit 95, negative deviation accumulated value Sigma] e _n-is less than ₂ second negative threshold E (at step S25 YES), and, if positive deviation accumulated value Sigma] e _{n +} approximately 0 (at step S26 YES), by detecting excessive steady-state error, the proportional gain Kp by a predetermined second proportional gain adjustment amount to generate an increased new proportional gain Kp _n was (step S29). Here, the tuning unit 95, (YES at step S30). If the new proportional gain Kp _n is greater than a predetermined proportional gain maximum value Kp _HI, and the proportional gain maximum value Kp _HI new proportional gain Kp _n (Step S31). Then, the tuning unit 95 updates the proportional gain Kp by a new proportional gain Kp _n (step S32), the process proceeds to step S33.

The tuning unit 95 compares the plus side deviation integrated value Σen ₊ with the second plus side threshold value E ₂₊ (step S27). Tuning unit 95, positive deviation accumulated value Sigma] e _{n +} is less than a second positive threshold level E ₂₊ (in step S27 YES), and, if negative deviation accumulated value Sigma] e _n-almost 0 (at step S28 YES), by detecting excessive steady-state error, the proportional gain Kp by a predetermined second proportional gain adjustment amount to generate an increased new proportional gain Kp _n was (step S29). Here, the tuning unit 95, (YES at step S30). If the new proportional gain Kp _n is greater than a predetermined proportional gain maximum value Kp _HI, and the proportional gain maximum value Kp _HI new proportional gain Kp _n (Step S31). Then, the tuning unit 95 updates the proportional gain Kp by a new proportional gain Kp _n (step S32), the process proceeds to step S33.

Tuning section 95 of the controller 9, when positive deviation accumulated value Sigma] e n ₊ is smaller than the first positive threshold E ₁₊ (NO at step S20), or negative deviation accumulated value Sigma] e _n-first negative If it is larger than the threshold value E ₁₋ (NO in step S21), it is determined that it is not hunting. Tuning unit 95, when negative deviation accumulated value Sigma] e _n-is greater than the _2-second negative threshold E (NO in step S25), and or, if not a positive deviation accumulated value Sigma] e _{n +} is approximately 0 (step S26 NO) determines that the minus side steady deviation is not excessive. Tuning unit 95, if positive deviation accumulated value Sigma] e _{n +} second positive threshold E ₂₊ smaller (NO in step S27), or, if not a negative deviation accumulated value Sigma] e _n-almost 0 (step S28 NO) determines that the plus-side steady deviation is not excessive. The tuning unit 95 is not the hunting (NO in step S20 or NO in step S21), is not excessively negative minus steady deviation (NO in step S25 or NO in step S26), and is not excessively positive plus steady deviation (step If NO in S27 or NO in Step S28), the process proceeds to Step S33 without updating the proportional gain Kp.

In the crushing load control described above, the proportional gain Kp is adjusted by the tuning unit 95, but in addition to the proportional gain Kp, at least one of the differential gain Kd and the integral gain Ki may be adjusted.

<Second example of crushing load control>
Subsequently, a second example of crushing load control will be described. In the first example described above, at least one of the supply device 4 and the set adjustment device 10 is an operation target. However, in the second example, the supply device 4 and the set adjustment device 10 are operation targets. One of the supply device 4 and the set adjustment device 10 that changes the operation amount with priority is set as a first operation target, and the other is set as a second operation target.

The processing flow of the crushing load control according to the second example differs from the processing flow of the crushing load control according to the first example in steps S6 to S11, and the remaining steps are substantially the same. Hereinafter, the flow of the crushing load control process according to the second example will be described with reference to FIGS. 7 to 9, but the first example will be described with respect to the contents overlapping with the crushing load control process according to the first example. The description is simplified with reference.

The operation control unit 93 of the control device 9 operates the first operation target with a certain operation amount MV1 and operates corresponding to the operation amount MV1, and the second operation target is operated with a certain operation amount MV2. It operates corresponding to the manipulated variable MV2. When the crushing load control is started, the control device 9 acquires the load index I measured by the load measuring device (step S41), and confirms that the load index I is within a predetermined steady range (or no load state). Monitor (step S42). If the load index I is within the steady range (or no load state) (YES in step S42), the load monitoring unit 91 of the control device 9 returns to step S41 and continues monitoring.

On the other hand, the control unit 9, the load index I is if it is outside the normal range (NO in step S42), and starts measuring the PID control time T ₁ in the timer (step S43). If the PID control time T ₁ (that is, the elapsed time since the start of time measurement) is less than the predetermined PID control cycle T _1s (NO in step S44), the control device 9 returns to step S41 and performs monitoring. continue. On the other hand, the control unit 9, if the PID control time T ₁ is PID control period T _1s or more (YES in step S44), the PID control time T ₁ is reset to 0 (step S45), the next step S46 move on.

In step S46, the operation amount calculation unit 92 of the control unit 9 calculates a new manipulated variable MV1 _n in accordance with the control algorithm and a load index I and the load index target value I _T for the first operation target. Further, the control device 9 compares the new operation amount MV1 _n with the predetermined operation amount maximum value MV1 _HI, and if the new operation amount MV1 _n is larger than the operation amount maximum value MV1 _HI (YES in step S47). in accordance with the control algorithm and a load index I and the load index target value I _T for the second operation target to calculate a new manipulated variable MV2 _n (step S61).

The control device 9 compares the new operation amount MV2 _n with the predetermined operation amount minimum value MV2 _LO, and if the new operation amount MV2 _n is less than the operation amount minimum value MV2 _LO (YES in step S62). The operation amount minimum value MV2 _LO is set as a new operation amount (step S63). Then, the control device 9 updates the operation amount MV2 with the new operation amount MV2 _n for the second operation object (step S67).

In step S47, if the new operation amount MV1 _n is equal to or less than the operation amount maximum value MV1 _HI (NO in step S47), the control device 9 compares the new operation amount MV1 _n with the operation amount minimum value MV1 _LO. , if the new operation amount MV1 _n by the operation amount less than the minimum value MV1 _LO (YES at step S48), a new operation in accordance with the control algorithm and a load index I and the load index target value I _T for the second operation target The amount MV2 _n is calculated (step S64).

The control device 9 compares the new operation amount MV2 _n with the predetermined operation amount maximum value MV2 _HI, and if the new operation amount MV2 _n is greater than the operation amount maximum value MV2 _HI (YES in step S65), The amount maximum value MV2 _HI is set as a new operation amount MV2 _n (step S66). Then, the control device 9 updates the operation amount MV2 with the new operation amount MV2 _n for the second operation object (step S67).

In step S38, if the new operation amount MV1 _n is equal to or greater than the operation amount minimum value MV1 _LO (NO in step S48), the control device 9 updates the operation amount MV1 with the new operation amount MV1 _n for the first operation target. (Step S49).

The control device 9 operates the first operation object and the second operation object with the new operation amounts MV1 _n and MV2 _n (step S50).

When the first operation target and the second operation target in response to a new manipulated variable MV1 _n, MV2 _n as described above is operated, appears response of a new manipulated variable MV1 _n, MV2 _n load index I. The response evaluation index generation unit 94 of the control device 9 acquires the load index I generated by the new manipulated variables MV1 _n and MV2 _n from the load measuring device, and creates a response waveform of the load index I (Step S51). Returning to step S41, the monitoring is continued.

The control device 9 generates a response evaluation index using the response waveform. In parallel with step S42, the control device 9 determines whether or not the acquired load index I is greater than the no-load state threshold I _LL (step S52). The controller 9, when the load index I is less than the no-load state threshold I _LL (NO at step S52), the process proceeds to step S78, and the positive deviation integrated value Sigma] e n ₊ and negative deviation accumulated value Sigma] e _n- After resetting to 0 (steps S78 and S79), the process returns to step S1. On the other hand, the response evaluation index generation unit 94 of the controller 9, when the load index I exceeds the no-load state threshold I _LL (YES in step S52), the response waveform of the load index I, the deviation integration time T ₂ positive deviation accumulated value from the load indicator target value I _T Sigma] e n ₊ was calculated, to update it (step S53). Similarly, the response evaluation index generation unit 94 of the controller 9, the response waveform of the load index I, the negative difference cumulative value Sigma] e _n-from the load indicator target value I _T of the deviation integration time T ₂ is calculated, it Is updated (step S54).

Controller 9 starts measuring the difference cumulative time T ₂ (step S55). The controller 9, when the deviation integrated time T ₂ is less than a predetermined parameter adjustment cycle T _2s (NO at step S56), the process returns to step S41. On the other hand, the control unit 9, deviation accumulated time T ₂ is equal to a predetermined parameter adjustment cycle T _2s or more (Step S56 YES), the deviation integration time T ₂ after having a 0 (step S57), the next step The process proceeds to S72, S57, and S59, and control parameter tuning is started.

The tuning unit 95 of the control device 9 compares the plus side deviation integrated value Σen ₊ of the parameter adjustment period T _2s with a predetermined first plus side threshold value E ₁₊ (step S72), and the minus side of the parameter adjustment period T _2s . deviation accumulated value Sigma] e _n-and a predetermined first negative threshold E is compared with ₁ (step S73). Tuning unit 95, positive deviation accumulated value Sigma] e n ₊ is greater than the first positive threshold E ₁₊ (Step S72 YES), and, from the negative deviation accumulated value Sigma] e _n-first negative threshold E _1- when smaller (YES in step S73), detects the hunting, to produce a new proportional gain Kp _n with reduced proportional gain Kp by a predetermined first proportional gain adjustment amount (step S74). Here, the tuning unit 95, when a new proportional gain Kp _n is smaller than a predetermined proportional gain minimum value Kp _LO (YES in step S75), and the proportional gain minimum value Kp _LO new proportional gain Kp _n (Step S76). Then, the tuning unit 95 updates the proportional gain Kp by a new proportional gain Kp _n (step S77), the plus-side difference cumulative value Sigma] e _{n +} and negative deviation accumulated value Sigma] e _n-zero (step S78, S79 ), The process returns to step S41.

Tuning unit 95 compares the ₂ negative deviation accumulated value Sigma] e _n-second negative threshold E (step S81). Tuning unit 95, negative deviation accumulated value Sigma] e _n-is less than ₂ second negative threshold E (at step S81 YES), and, if positive deviation accumulated value Sigma] e _{n +} approximately 0 (at Step S82 YES), by detecting excessive steady-state error, the proportional gain Kp by a predetermined second proportional gain adjustment amount to generate an increased new proportional gain Kp _n was (step S85). Here, the tuning unit 95, (YES at step S86). If the new proportional gain Kp _n is greater than a predetermined proportional gain maximum value Kp _HI, and the proportional gain maximum value Kp _HI new proportional gain Kp _n (Step S87). Then, the tuning unit 95 updates the proportional gain Kp by a new proportional gain Kp _n (step S77), the process proceeds to step S78.

The tuning unit 95 compares the plus side deviation integrated value Σen ₊ with the second plus side threshold value E ₂₊ (step S83). Tuning unit 95, positive deviation accumulated value Sigma] e _{n +} is less than a second positive threshold level E ₂₊ (in step S83 YES), and, if negative deviation accumulated value Sigma] e _n-almost 0 (at Step S84 YES), by detecting excessive steady-state error, the proportional gain Kp by a predetermined second proportional gain adjustment amount to generate an increased new proportional gain Kp _n was (step S85). Here, the tuning unit 95, (YES at step S86). If the new proportional gain Kp _n is greater than a predetermined proportional gain maximum value Kp _HI, and the proportional gain maximum value Kp _HI new proportional gain Kp _n (Step S87). Then, the tuning unit 95 updates the proportional gain Kp by a new proportional gain Kp _n (step S77), the process proceeds to step S78.

Tuning unit 95, if positive deviation accumulated value Sigma] e n ₊ is smaller than the first positive threshold E ₁₊ (NO at step S72), or negative deviation accumulated value Sigma] e _n-first negative threshold E _1- If it is larger (NO in step S73), it is determined that it is not hunting. Tuning unit 95, when negative deviation accumulated value Sigma] e _n-is greater than the _2-second negative threshold E (NO in step S81), or, if not a positive deviation accumulated value Sigma] e _{n +} is approximately 0 (step S82 NO), it is determined that the minus side steady deviation is not excessive. Tuning unit 95, if positive deviation accumulated value Sigma] e _{n +} second positive threshold E ₂₊ smaller (NO at step S83), or, if not a negative deviation accumulated value Sigma] e _n-almost 0 (step S84 NO), it is determined that the plus-side steady deviation is not excessive. The tuning unit 95 is not the hunting (NO in step S72 or NO in step S73), is not excessively negative minus steady deviation (NO in step S81 or NO in step S82), and is not excessively positive plus steady deviation (in step S83). If NO or NO in step S84, the process proceeds to step S78 without updating the proportional gain Kp.

As described above, the rotary crusher 1 according to the present embodiment includes a conical tube-shaped concave 14, a truncated cone-shaped mantle 13 disposed inside the concave 14, and an eccentric swiveling motion of the mantle 13. The electric motor 8 to be moved, the hopper 2 for feeding the material to be crushed into the crushing chamber 16 formed between the concave 14 and the mantle 13, the supply device 4 for supplying the material to be crushed to the hopper 2, and the crushing load directly. A load measuring device that measures a load index I expressed automatically or indirectly, and a set adjustment device 10 that displaces one of the concave 14 and the mantle 13 with respect to the other in order to change the set of the concave 14 and the mantle 13; And a control device 9 for controlling the set adjustment device 10 and the supply device 4.

Then, the control device 9 has at least one of the supply device 4 and the set adjustment device 10 as an operation target, and the load index measured by the load measuring instrument in a state where the operation target is operating corresponding to a certain operation amount. A load monitoring unit 91 that monitors whether I is within a predetermined steady range, and a predetermined target value of the load index I using a predetermined control algorithm for the operation target when the load index I is out of the steady range an operation amount calculating unit 92 for obtaining a new manipulated variable based on the deviation between the measured value and I _T, the operation control unit 93 to operate in response to operation target amount new operation, new operation amount of the operation target A response evaluation index generation unit 94 that generates a response evaluation index of the load index I generated by the operation corresponding to the above, and whether the response is good or not based on the response evaluation index. A tuning unit 95 for adjusting at least one of chromatography data, the.

Further, in the control method of the rotary crusher 1 according to the present embodiment, at least one of the supply device 4 and the set adjustment device 10 is an operation target, and the operation target is operating corresponding to a certain operation amount. Measuring the load index I directly or indirectly representing the crushing load, monitoring that the load index I is within a predetermined steady range, and when the load index I is out of the steady range, determining a new manipulated variable based on the deviation between the measured value and the predetermined target value I _T of the load index I using a predetermined control algorithm for the operation target, the operation target in response to the amount of new operation A step of generating, a step of generating a response evaluation index of a load index I generated by an operation corresponding to a new operation amount to be operated, and a case where the response is evaluated based on the response evaluation index, and the response is not good Comprising the steps of: adjusting at least one of the control parameters of the control algorithm.

According to the above-mentioned rotary crusher 1 and its control method, when the control response based on the control algorithm is not good, that is, the control that has been used so far due to disturbances such as changes in the properties of the object to be crushed. When the parameter is no longer an appropriate value, the control parameter is automatically adjusted to the appropriate value. Thereby, even if disturbance arises, continuation of the stable driving | operation of the rotary crusher 1 is realizable.

In the rotary crusher 1 according to the present embodiment, the response evaluation index generation unit 94 creates a response waveform of the load index I generated by the operation of the operation target, and a response waveform target over a predetermined parameter adjustment period T _2s. seek positive difference cumulative value Sigma] e n ₊ and the negative deviation accumulated value Sigma] e _n-and from the value I _T, respectively, the tuning unit 95, based on the positive deviation accumulated value Sigma] e n ₊ and negative deviation accumulated value Sigma] e _n- Evaluate the quality of response.

Similarly, in the control method of the rotary crusher 1 according to the present embodiment, the step of generating the response evaluation index creates a response waveform of the load index I generated by the operation of the operation target, and a predetermined parameter adjustment cycle. comprises finding a positive deviation accumulated value from the target value I _T of the response waveform across T _2s Sigma] e n ₊ negative deviation accumulated value Sigma] e _n-and each step of adjusting at least one of the control parameters, the positive side deviation accumulated value Sigma] e n ₊ and on the basis of negative deviation accumulated value Sigma] e _n-includes evaluating the quality of the response.

By evaluating the response by such a method, it is possible to easily and accurately evaluate whether or not the value of the control parameter of the control algorithm is an appropriate value.

In the above rotating crusher 1 and its control method, the load index I may be a value of power consumption of the electric motor 8. The load measuring instrument in this case is a current sensor 88a and a voltage sensor 88b provided in the motor driver 88.

Alternatively, in the rotary crusher 1 and its control method, the load index I may be a crushing pressure applied to the mantle 13. The rotary crusher 1 further includes a hydraulic cylinder 6 that receives a crushing pressure applied to the mantle 13, and the load measuring instrument in this case serves as a pressure sensor 24 that detects the hydraulic pressure of the hydraulic oil in the hydraulic cylinder 6.

As described above, the load index I used for the control can be appropriately selected from a plurality of candidates according to the specific configuration of the rotary crusher 1, the material to be crushed, and the like.

[Modification]
Next, a modification of the above embodiment will be described. FIG. 10 is a diagram illustrating a schematic configuration of a rotary crusher 1A according to a modification. The rotatory crusher 1 according to the embodiment includes the hydraulic set adjusting device 10, but the rotatory crusher 1 </ b> A according to the present modification includes a mechanical set adjusting device 10 </ b> A. Except for such a difference, both have a substantially common structure. Therefore, in the description of the rotary crusher 1A according to the following modification, the same or similar members as those of the rotary crusher 1 according to the above-described embodiment are denoted by the same reference numerals in the drawings, and the description thereof is omitted. And simplify.

As shown in FIG. 10, the rotary crusher 1 </ b> A includes a hopper 2 that inputs a material to be crushed into a crushing chamber 16, a supply device 4 that supplies the material to be crushed to the hopper 2, and a material to be crushed that has dropped from the hopper 2. A mantle 13 and a concave 14 for biting and crushing an object, an electric motor 8 which is a turning drive means for the mantle 13, a power transmission mechanism 80 for transmitting rotational power from the electric motor 8 to the mantle 13, and a concave 14 A set adjusting device 10 </ b> A that moves up and down with respect to the control unit 9 and a control device 9 that controls the operation of the rotary crusher 1.

The rotary crusher 1 further includes a frame 3 including a top frame 31 and a bottom frame 32. A cylindrical concave support 35 is disposed on the inner periphery of the top frame 31. The concave 14 is fixed to the inner periphery of the concave support 35. The hopper 2 is fixed to the upper part of the concave support 35.

The inner screw 31a is formed on the inner peripheral surface of the top frame 31, and the outer screw 35a is formed on the outer peripheral surface of the concave support 35, which are screwed together. Outer teeth 35 b are formed on the concave support 35, and the outer teeth 35 b mesh with the drive gear 45. The drive gear 45 rotates in response to the rotational power of the electric motor 46. The electric motor 46 is supported on the top frame 31. The operation of the electric motor 46 is controlled by a motor driver 47 connected to the control device 9.

The set adjusting device 10A is constituted by the inner screw 31a of the top frame 31, the outer screw 35a and the outer teeth 35b of the concave support 35, the drive gear 45, the electric motor 46, and the motor driver 47. In the set adjusting device 10 </ b> A, the concave support 35 rotates with respect to the top frame 31 when the drive gear 45 rotates. When the concave support 35 rotates, the concave support 35 moves up and down with respect to the top frame 31 by screwing the inner screw 31a of the top frame 31 and the outer screw 35a of the concave support 35, and the set changes.

The top frame 31 or the concave support 35 is provided with a contact type or non-contact type set sensor 23A for detecting the displacement of the concave support 35 with respect to the top frame 31. The control device 9 can obtain a set from the detection value of the set sensor 23A. The control device 9 operates the set adjustment device 10A based on the set value detected by the set sensor 23A.

The mantle 13 is attached to a mantle door 12 fixed to the upper part of the main shaft 5. The main shaft 5 is disposed in the frame 3 with its axis inclined from the vertical direction. A lower portion 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 an outer bush 53 provided on the bottom frame 32. A lower portion of the eccentric sleeve 52 is supported by a slide bearing 66. The mantle door 12 is supported by a thrust bearing (hydrostatic bearing) 55 provided on the bottom frame 32. An oil film made of lubricating oil is formed between the mantle door 12 and the thrust bearing 55. The lubrication circuit 7A of the thrust bearing 55 is provided with a pressure sensor 24A for detecting the lubrication oil supply pressure. When the crushing pressure is applied to the mantle 13, a higher pressure is required to send the lubricating oil between the mantle door 12 and the thrust bearing 55, and the hydraulic pressure of the lubricating oil supplied to the thrust bearing 55 increases. Therefore, the oil supply pressure of the thrust bearing 55 detected by the pressure sensor 24A is a measured value that indirectly represents the crushing load, and may be used as the load index I.

The rotary crusher 1A having the above-described configuration includes a load measuring device that measures a load index I that directly or indirectly represents the crushing load, as in the above-described rotary crusher 1, and the control device 9 crushes. The load index I measured during operation is monitored, and crushing load control is performed to adjust the supply amount of the object to be crushed by the supply device 4 so that the load index I is maintained within a predetermined steady range. However, in the mechanical rotatory crusher 1A, it is necessary to apply pressure to the set adjustment device 10A during the crushing operation to fix it, so it is difficult to change the set during the crushing operation. As the load control method, the first example described above is adopted, and the supply device 4 is selected as an operation target.

The preferred embodiments (and modifications) of the present invention have been described above. However, the present invention can be applied to modifications of the specific structures and / or functions of the above-described embodiments without departing from the spirit of the present invention. It can be included in the invention.

DESCRIPTION OF SYMBOLS 1,1A: Rotary crusher 2: Hopper 3: Frame 4: Feeder 5: Spindle 6: Hydraulic cylinder 7: Hydraulic circuit 7A: Lubrication circuit 8: Electric motor 9: Controller 10, 10A: Set adjustment device 12 : Mantle door 13: Mantle 14: Concave 16: Crushing chambers 23 and 23A: Set sensors 24 and 24A: Pressure sensor 25: Rotational speed sensor 26: Torque sensor 31: Top frame 32: Bottom frame 34: Upper bearing 35: Concave support 41: Electric motor 43: Motor driver 45: Drive gear 46: Electric motor 47: Motor driver 51: Inner bush 52: Eccentric sleeve 53: Outer bush 55 Thrust bearing 61: Ram 62: Slide bearing 63: Cylinder tube 65: Hydraulic chamber 66: Sliding bearing 67: Oil tank 8: Pump motor 69: Motor driver 71: Communication pipe 72: Accumulator 73: Oil supply pipe 74: Oil discharge pipe 75: Strainer 76: Gear pump 77: Check valve 78: Shut-off valve 79: Shut-off valve 80: Power transmission mechanism 81: Output shaft 82: belt type transmission mechanism 83: horizontal axis 84: bevel gear transmission mechanism 88: motor driver 88a: current sensor 88b: voltage sensor 91: load monitoring unit 92: operation amount calculation unit 93: operation control unit 94: response evaluation Index generation unit 95: tuning unit

Claims (11)

A cone-shaped concave,
A frustoconical mantle disposed inside the concave;
An electric motor for causing the mantle to rotate eccentrically;
A hopper for putting a material to be crushed into a crushing chamber formed between the concave and the mantle;
A supply device for supplying the material to be crushed to the hopper;
A load measuring device for measuring a load index directly or indirectly representing a crushing load;
A set adjusting device for displacing one of the concave and the mantle with respect to the other in order to change a set of the concave and the mantle;
A control device for controlling the set adjustment device and the supply device;
The controller is
In a state where at least one of the supply device and the set adjustment device is an operation target, and the operation target is operating corresponding to a certain operation amount, the load index measured by the load measuring instrument is a predetermined steady state. A load monitoring unit for monitoring that it is within the range;
A manipulated variable for obtaining a new manipulated variable based on a deviation between a predetermined target value and a measured value of the load index using a predetermined control algorithm for the operation target when the load index is out of the steady range. An arithmetic unit;
An operation control unit for operating the operation target in accordance with the new operation amount;
A response evaluation index generation unit that generates a response evaluation index of the load index generated by an operation corresponding to the new operation amount of the operation target;
A tuning unit that evaluates the quality of the response based on the response evaluation index and adjusts at least one of the control parameters of the control algorithm when the response is not good.
Rotary crusher. The response evaluation index generation unit creates a response waveform of the load index generated by the operation of the operation target, and adds a positive deviation integrated value and a negative deviation from the target value of the response waveform over a predetermined parameter adjustment period. Find the integrated value,
The tuning unit evaluates the quality of the response based on the plus side deviation integrated value and the minus side deviation integrated value,
The rotary crusher according to claim 1. The control algorithm is one selected from a group including a proportional control algorithm, a proportional-integral control algorithm, a proportional-integral-derivative control algorithm, and a proportional-derivative-feedback (PDF) control algorithm.
The rotary crusher according to claim 1 or 2. The load index is a value of power consumption of the electric motor.
The rotary crusher according to any one of claims 1 to 3. A hydraulic cylinder for receiving a crushing pressure applied to the mantle;
The load index is a hydraulic pressure value of hydraulic oil in the hydraulic cylinder.
The rotary crusher according to any one of claims 1 to 3. A thrust bearing for supporting the mantle;
The load index is a value of oil supply pressure of the lubricating oil of the thrust bearing,
The rotary crusher according to any one of claims 1 to 3. A conical tube-shaped concave, a truncated cone-shaped mantle arranged inside the concave, an electric motor for rotating the mantle eccentrically, and a crushing chamber formed between the concave and the mantle. Displacement of one of the concave and mantle with respect to the other in order to change a set of a hopper for charging an object, a supply device for supplying the crushed material to the hopper, and the concave and the mantle A control method for a rotary crusher comprising a set adjusting device
When at least one of the supply device and the set adjustment device is an operation target, and the operation target is operating corresponding to a certain operation amount, a load index that directly or indirectly represents a crushing load is measured. Monitoring that the load index is within a predetermined steady state range;
Obtaining a new operation amount based on a deviation between a predetermined target value and a measured value of the load index using a predetermined control algorithm for the operation target when the load index is out of the steady range; ,
Operating the operation object in accordance with the new operation amount;
Generating a response evaluation index of the load index generated by an action corresponding to the new operation amount of the operation target;
Evaluating the quality of the response based on the response evaluation index and adjusting at least one of the control parameters of the control algorithm if the response is not good,
Control method of the rotary crusher. The step of generating the response evaluation index creates a response waveform of the load index generated by the operation of the operation target, and adds a plus side deviation integrated value from the target value of the response waveform over a predetermined parameter adjustment period and a minus Each including a side deviation integrated value,
The step of adjusting at least one of the control parameters includes evaluating the quality of the response based on the plus side deviation integrated value and the minus side deviation integrated value.
The method for controlling a rotary crusher according to claim 7. The control algorithm is one selected from the group including a proportional control algorithm, a proportional integral control algorithm, a proportional integral derivative control algorithm, and a proportional derivative feedback control algorithm.
The method for controlling a rotary crusher according to claim 7 or 8. The load index is a value of power consumption of the electric motor.
The method for controlling a rotary crusher according to any one of claims 7 to 9. The load index is a crushing pressure applied to the mantle.
The method for controlling a rotary crusher according to any one of claims 7 to 9.

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