Comparison of typical control laws of crushing unit on the example of a jaw crusher

To control the jaw crusher in a constantly changing input conditions, various types of typical regulators are used. It is necessary to take into account the fact that a modern jaw crushing machine is not only an element of the crushing and screening complex, but is also a system per se. Each element of this system has a certain isolation, up to the presence of an independent safety device in each subsystem. Safety devices are, for example, a toggle plate belonging to the protection devices of the mechanical subsystem, or a crusher drive control system based on monitoring the basic parameters of the electric drive belonging to the protection devices of the electrical subsystem. When controlling the mechanical subsystem, the values change proportionally, but in the control system of electric drive parameters their values change according to the type of controller used. When using the P-controller, the amount of correction to the control action is proportional to the deviation. The PI-controller provides a change in the magnitude of the correction to the control action not only in proportion to the magnitude of the deviation, but also depending on the accumulated action of the deviation of the controlled variable. The PID-controller takes into account not only the accumulated value of the controlled variable, but also the rate of its change. The parameters of the regulators were adopted by the method of Ziegler-Nichols. It is shown that each of the model regulators has its drawbacks, which may be insignificant during operation.