Design And Research Of High Dynamic Response Electron Shaker Head

The beneficiation shaker belongs to the flow film ore dressing equipment,which is widely used to select tin,tungsten,coal,colored and rare metal ore,and plays an important role in gravity mineral processing machinery and equipment.With the rapid development of industrial Internet and electronic and servo control technology,the full computerization process of high-speed shakers has advanced rapidly.However,the complex and high-frequency characteristics of the high-speed shaker bed surface motion puts extremely difficult control requirements on the bed surface control,which makes the digital control of the high-speed beneficiation shaker bed surface movement.It has become a technical difficulty in the process of computerization of high-speed beneficiation shakers.Because the bed surface motion curve of the traditional beneficiation shaker is fixed,it is not easy to change,and the bed surface motion curves are different when different rare metal ores or different granularities are selected,which leads to a wide variety of beneficiation shakers.In order to promote the full automation of the concentrator and the simplification of the workshop,this project proposes a control system for the high dynamic response electronic shaker head.In the whole system solution,the electronic shaker head servo system uses PROFINET communication,SIMATIC S7-1200 is used as the controller to control the 1FL6 servo motor matched with the SINAMICS V90-PN driver,and the servo motor acts as the actuator to drive the bed surface movement..The experimental platform was built according to the above scheme.The work of this paper is as follows:(1)The electronic shake head control system studied in this paper uses Matlab/Simulink to model and simulate,and input the response parameters into the model.The simulation result is that the system output oscillation converges and converges in two waves,the time taken is 0.03.Seconds;at no load,the maximum value of the motion curve error fluctuation is 0.4 mm;when the load is applied,the maximum value of the motion curve error fluctuation is 0.9 mm.(2)Taking the cam-lever shaker head as an example,the mathematical analysis of the shaker is carried out to obtain the motion curve of the bed surface.Combined with the S-shaped curve,the bed surface motion curve is adjusted to obtain a new motion curve in the electronic shaker head controller;then the basic positioner control is selected as the system control strategy.(3)The three-layer structure of the high-speed electronic shaker head system is constructed in order from bottom to top.The bottom layer of the motion execution layer of the system is composed of a ball screw,a servo motor and a servo drive.The SIMATIC S7-1200 PLC control is used as the intermediate motion control layer of the system.The top is the sports management layer,which is mainly m ade up of touch screen,industrial computer and internet.Finally,the system's security protection function is designed.(4)Experiments were conducted based on a designed electronic shaker head system to verify and test the dynamic response performance of the system.The dynamic response time of the speed control mode is 30ms,and the dynamic response time of the basic positioner control mode is 16,2ms.The motion curve is added to the controller.When the bed surface is unloaded,the motion curve has a period of 220 ms and the position following error is 10.4 mm.When the bed is loaded,the period of the motion curve is also 220ms,and the position following error is 0.5mm.At this time,the bed surface is 272.7 times per minute.And furher explore the performance data that the system can achieve is 387 times per minute.This paper first uses the cam lever shaker as an example to study the motion curve of the bed surface.Then select the control strategy and hardware device.Finally,the experimental platform was built to obtain the motion parameters of the electronic shaker head.