Continuous belt conveyor speed control in case of reduced spectral density of load flow

Authors: Dmitrieva V. V., Sizin P. E.

Mine transportation is currently concerned with improvement of conveyor efficiency. This study addresses the continuous conveyor speed control. The study was aimed to describe a transfer function for a servo-mechanism realizing an input signal—Q(t). The problem is complicated by the input signal repeat at a certain time lag t0 as the instantaneous change in the belt conveyor speed pursuant to the load flow variation is impossible. In case that the spectral density of the speed Q signal is proportional to the spectral density of the load flow, SQ (ω), using the method proposed by V.V. Solodovnikov, it is possible to arrive to the transfer function expression: Ф(jω) = e–αt0. The minimum mean square error for the control performance evaluation is found. Adjustment of the spectral density expression is proposed. The reduced spectral density is considered, as well as the new transfer function and the minimum mean square error of control are found. Load flows change much slower than relaxation processes in conveyors, the control performance becomes even better. At M (t) = 3σ(t) this improvement makes approximately 3% of mathematical expectation while Q Q conveyors become loaded up to 98.5 %. %. Accordingly, the controlling system has enough time to repeat input signals at a high accuracy and to keep full load of the conveyor without spillage by maintaining Q/v = h = const.

Keywords: belt conveyor, speed control, optimized transfer function, mine load flow, stochastic process, spectral density, correlation function, minimum mean square error of control.
For citation:

Dmitrieva V. V., Sizin P. E. Continuous belt conveyor speed control in case of reduced spectral density of load flow. MIAB. Mining Inf. Anal. Bull. 2020;(2):130-138. [In Russ]. DOI: 10.25018/0236-1493-2020-2-0-130-138.

Issue number: 2
Year: 2020
Page number: 130-138
ISBN: 0236-1493
UDK: 622.647.21
DOI: 10.25018/0236-1493-2020-2-0-130-138
Article receipt date: 01.11.2019
Date of review receipt: 21.11.2019
Date of the editorial board′s decision on the article′s publishing: 20.01.2020
About authors:

V.V. Dmitrieva, Cand. Sci. (Eng.), Assistant Professor, Gubkin Russian State University of Oil and Gas (National Research University), 119991, Moscow, Russia, e-mail:,
P.E. Sizin, Cand. Sci. (Phys. Mathem.), Institute of Basic Education, National University of Science and Technology «MISiS», 119049, Moscow, Russia, e-mail:


For contacts:

P.E. Sizin, e-mail:


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