(3) Control rule modification and acquisition of fuzzy control table With P(nT) and r(nT), the self-organized fuzzy control table can be obtained according to the principle of self-organizing fuzzy controller and its design method. The result is as follows. Table 2 (the problem of not considering the amount of hysteresis) is represented by П aT .
Since the system has a large amount of hysteresis, as mentioned above, the control at (nT-9T) time has an effect on the system performance at nT, so the control amount correction amount here should be
v(nT-9T)=u(nT-9T)+r(nT)
(1)
(4) Modify the control table by self-organizing Fuzxzy control
Since the deviation of the initial fuzzy control e(nT), the variation of the deviation, and the fuzzy set of the control quantity u(nt) are all unimodal, at most one element of each line of the initial relational matrix R 0 is 1, which is called the initial state. State, otherwise called transformation state. The rules for direct correction of the control table П aT are as follows.
1 In the initial state; if the e and unequal values ​​measured in the adjacent sampling are equal, the e(nT-9T) and the corresponding control amount in the control table П nT are corrected to u(nT-9T)=u( nT-9T)+r(nT);
If the e sums measured in the adjacent sampling periods are equal, the corresponding control amount in the control table П nT is corrected to
П nT [e(nT-9T),e(nT-9T)+v(nT-9T)]
( -------------------------------------- )
2
(2)
1
= ( П nT [v(nT-9T)]1---t(nT) )
2
And take an integer.
Table 2 (П nT control table)
e(nT)
(nT)
-6
-5
-4
-3
-2
-1
0
1
2
3
4
5
6
u(nT)
-6
-5
-4
-3
-2
-1
-0
+0
1
2
9
4
0
6
6
6
6
6
6
5
4
0
0
0
0
0
0
0
6
6
6
5
5
4
3
0
0
0
0
0
0
0
6
6
6
5
4
3
3
0
0
0
0
0
0
0
6
6
6
4
3
2
1
0
0
0
-2
-2
-2
0
6
6
6
4
2
1
0
0
0
0
-2
-4
-2
0
6
6
6
4
2
1
0
0
0
0
-3
-5
-3
0
6
6
4
4
2
1
0
0
-1
-2
-4
-4
-6
-6
0
3
5
3
0
0
0
0
-1
-2
-4
-6
-6
-6
0
2
4
2
0
0
0
0
-1
-2
-4
-6
-6
-6
0
2
2
2
0
0
0
-1
-2
-3
-4
-6
-6
-6
0
0
0
0
0
0
0
-2
-3
-4
-5
-6
-6
-6
0
0
0
0
0
0
0
-3
-4
-5
-5
-6
-6
-6
0
0
0
0
0
0
0
-4
-5
-6
-6
-6
-6
-6
2 When changing the state: The control table П nT is always corrected as described above.
After the above method is continuously modified, a self-organizing fuzzy control table with better performance can be obtained. The control table can be modified and used each time it is sampled, so that the capacity and speed requirements of the computer can be reduced, and can be realized by a microcomputer and a single board machine. [next
Different scale factors GE, GE, EU and different sampling periods in the system have certain influence on the characteristics, as shown in Figure 5. When GE increases, the rate of increase increases and overshoot occurs, and CE overshoot increases. As can be seen from Figure 5, GE also affects the rate of rise and overshoot of the characteristic curve. Therefore, GE, GE and EU should be properly determined in actual work. ]
Figure 5   The effect of the proportional coefficient on the characteristics
a. proportional coefficient GE influence on characteristics; b. proportional coefficient GE influence on characteristics
Figure 6 shows the effect of different sampling periods on the characteristics. It can be seen that the sampling period is small, the system characteristics rise rapidly, but the overshoot amount increases; when the sampling period is large, the system characteristics rise slowly, but it is beneficial to reduce the steady state error.
The system adopts the above self-organizing fuzzy control technology and obtains better control effects. The maximum allowable power of the crusher drive motor is 200 kW. When using PI or PID regulator, it can only be given above 150 kW. It is not possible to avoid the occurrence of a shutdown accident. With the self-organizing fuzzy controller, it is allowed to be given at 195 kW, which increases the productivity by about 13%, and avoids the accident that the motor is overloaded and the production is stopped.
3. Crusher load and automatic control of discharge port
The size of the discharge port is automatically adjusted by a microcomputer or an analog meter, the ore amount is reasonably adjusted, the crusher is fully loaded, the input energy is effectively utilized, and the maximum number of qualified products are produced, and the productivity of the crushing operation can be increased by 12%. The final product particle size is reduced by 13~28%, the unit energy consumption is reduced by 1.1~1.4%, and the wear material loss is reduced by 5~7%.
Figure 6   Effect of sampling period on characteristics [next]
1.T=5; 2.T=1.3
Figure 7   Block diagram of crusher load and discharge control system
The hydraulic cone crusher load and discharge automatic control system is implemented on the basis of the hydraulic cone crusher, such as the system shown in Figure 7. The crusher load of the system is measured based on the oil pressure in the cylinder and the motor current driven by the crusher. Change the speed of the belt to the mining machine to change the amount of the ore and adjust the load of the crusher. The size of the discharge port of the crusher is determined by the amount of oil entering the high pressure cylinder. The amount of oil is converted to the oil level in a low-pressure equal-section fuel tank, which is proportional to the size of the discharge port and is converted into a signal of the size of the discharge port by the liquid level sensor. By controlling the working time of the high pressure oil pump and the solenoid valve, the amount of oil in the high pressure cylinder can be changed to adjust the discharge port of the crusher. Considering the large lag of the system, the load and discharge port adjustment adopts an intermittent adjustment device with adjustable duty cycle. The control characteristics are shown in Table 3. The adjustable working area and the upper and lower limit adjustment areas are set on the discharge port indicator, and the discharge port is not adjusted in the working area. In the upper and lower limit adjustment intervals, the discharge port is adjusted in accordance with the indication value of the load indicator. Adjustable working area, upper and lower limit adjustment area and upper and lower limit area are set on the load indicator, ie pressure gauge and ammeter. The indicator value does not make any adjustments on the work area. The current meter or pressure gauge indicates that the value is adjusted during the upper limit adjustment zone; when the upper limit zone is increased, the discharge port is increased and an alarm signal is issued. When the indication values ​​of the ammeter and the pressure gauge are in the lower limit adjustment zone, the adjustment action is generated (only one of them does not operate); when the ammeter or pressure gauge indicates the value in the lower limit zone, the system is transferred to the manual, and the operator adds the ore to the mine. Quantity or reduce the discharge port.
Table 3     Crusher control characteristics
Drainage port indication
Load indication
Giving amount
Ore ore
Adjustment result
Work area
Upper limit adjustment zone
Lower limit adjustment zone
Work area
Upper limit adjustment zone
Lower limit adjustment zone
increase
cut back
Increase
Decrease
Load indication back to the work area
Drainage port indication back to the work area
Δδ=δ 2 -δ 1
Δδ 2 =δ-δ 2
Δδ 1 =δ 1 -δ
ΔI=I 2 -I 1
ΔI 2 =II 2
ΔI 1 =I 1 -I
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
-
-
[next]
In the table, δ 2 , δ 1 , I 2 and I 1 are the upper and lower limits of the discharge port and the load indication, respectively, which vary with the coarse crusher, the medium crusher and the fine crusher, and the corresponding Δδ and ΔI are also different. √ indicates the state of the discharge port and the load indication
On the basis of the above adjustment action, depending on the state of the discharge port and the load indication value, it is decided to change the amount of the ore or change the size of the discharge port. When the discharge port and the load indication value are of the same polarity (both enter the upper limit adjustment zone or both enter the lower limit adjustment zone), the ore amount is first adjusted, the load indication value is returned to the working area, and then the adjustment action of the next step is determined.
When the discharge port and the load indication value are reverse polarity (one in the upper limit adjustment zone and the other in the lower adjustment zone), first adjust the discharge port to return the indication value of the discharge port to the work area. The adjustment action is then determined by the load indication value.
If the load indication value is in the working area, even if the indication value of the discharge port enters the upper or lower limit adjustment area, or the indication value of the discharge port is in the work area; the load indication value enters the upper or lower limit adjustment area, and the system generates corresponding adjustment action. Return its indicated value to the work area.
For example, both the discharge port and the load indication value enter the upper limit adjustment zone, and the system first reduces the amount of the ore, so that the load indication value returns to the work area; then the system reduces the discharge port, and the discharge port indication value returns to the work area. If the load indication value crosses the working area and enters the upper limit adjustment area, the system reduces the ore supply amount and returns the load indication value to the work area.

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