Establishment of energy consumption model and multi-objective optimal control method of 6-DOF robotic crusher

In order to optimize the real-time crushing effect of 6-DOF robotic crusher, a model of energy consumption and a multi-objective optimization control method for 6-DOF robotic crusher are proposed. In optimization function, the optimization objective are total energy consumption, mass fraction of crushed products below 12 mm, energy consumption ratio, and throughput, and optimization variables are position of suspension point, rotational speed and precession angle of the moving cone. Among them, the function of total energy consumption and effective energy consumption is established and the function of total energy consumption is verified in this paper. The function of mass fraction of crushed products below 12 mm is based on previous research. Taking the full load working condition and chamber size of PYGB1821 crusher as an example. The solution of optimization is obtained. Compared with the traditional cone crusher under the same feed size distribution and chamber size, each objective can be effectively optimized, which can effectively reduce energy consumption and increase the crushing efficiency. This method is universal and can be used for the design and control of other crushing equipment.