Automatic height adjustment control method of roller of coal mining machine

Abstract

The invention discloses an automatic height adjustment control method of a roller of a coal mining machine. The automatic height adjustment control method comprises four steps of signal acquisition, data processing, predictive compensation fuzzy immune PID operation and instruction output. A fuzzy immune PID algorithm is introduced, PID parameters can be adaptively adjusted, the overshoot of a height adjustment system is obviously reduced, and the response speed of a system is accelerated. Meanwhile, a predictive compensation link is added, the heightening control quantity of a height adjustment system is compensated according to coal rock interface information, and the dynamic performance of the height adjustment system of a coal mining machine is improved. According to a height adjustment control strategy, the control precision of a coal mining machine roller height adjustment control system is improved, the hysteresis problem of the height adjustment system is optimized, the problems that the roller cuts coal rocks due to the fact that the height of the roller of the coal mining machine is not adjusted in time and residual coal is wasted due to the fact that the roller is too high are effectively solved, and the mining efficiency of the roller type coal mining machine is improved.

Description

technical field [0001] The invention relates to the technical field of coal mining machinery, in particular to an automatic height adjustment control method for a drum shearer. Background technique [0002] At present, most of the shearers in the fully mechanized mining face of coal mines are manually operated. The shearer driver's human eyes recognize the coal-rock interface combined with operating experience to control the height of the shearer. Due to the complex working conditions underground and the large flour layer, it is difficult for the driver to accurately control the shearer drum to cut coal along the coal-rock interface. The cutting of the roof by the drum will increase the gangue content in the coal and reduce the quality of the coal. In addition, the cutting of the roof will cause the height adjustment mechanism and the picks to be easily impacted by the load, which will increase equipment loss; There is a large amount of remaining coal, which reduces the coa...

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Problems solved by technology

[0002] At present, most of the shearers in the fully mechanized mining face of coal mines are manually operated. The shearer driver's human eyes recognize the coal-rock interface combined with operating experience to control the height of the shearer. Due to the complex working conditions underground and the large flour layer, it is difficult for the driver to accurately control the shearer drum to cut coal along the coal-rock interface. The cutting of the roof by the drum will increase the gangue content in the coal and reduce the quality of the coal. In addition, the cutting of the roof will cause the height adjustment mechanism and the picks to be easily impacted by the load, which will increase equipment loss; There is a large amount of remaining coal, which reduces the coal mining efficiency. A few advanced shearer manufacturers at home and abroad use memory cutting to control the automatic height adjustment of the drum. This is the target of the track tracking of the shearer drum, but due to the large inertia hysteresis of the shearer height adjustment system, it is difficult for the drum to cut automatically along the coal-rock interface

[0003] Chinese patent document CN104790948A discloses a method for automatically adjusting the height of a shearer drum based on changes in load pressure. The method uses a pressure sensor connected to the joint of the rodless cavity pipeline and the rod cavity pipeline joint of the shearer height adjustment cylinder. The pressure signal received by the oil cylinder is detected, and the load pressure and the rate of change of the load pressure of the oil cylinder are calculated, and the load pressure and the rate of change of the load pressure are input, and the control signal of the electro-hydraulic proportional valve is used as the output. A fuzzy rule is designed. The fuzzy controller calculates the control signal of the electro-hydraulic proportional valve to realize the automatic control of the height adjustment cylinder. This method indirectly measures the load pressure of the cylinder through the pressure sensor, but the load pressure of the cylinder is not only related to the cutting of coal and rock by the drum, but also the traction of the shearer. Changes in speed, height adjustment of the drum, etc. will cause changes in the load of the cylinder, so it is easy to cause inaccurate height adjustment of the drum, and its accuracy cannot be guaranteed

[0004] Chinese patent document CN103216233A discloses a method of automatic height adjustment of a shearer based on the current change of the cutting motor. In this method, the worker demonstrates the first cut, and the current sensor installed on the cutting motor records the current of cutting the coal seam and the rock formation. Value distribution, using this current value as the basis for defining the coal seam and rock formation, by detecting the current fluctuation range of the cutting motor, identifying the coal rock layer, and realizing the automatic adjustment of the shearer drum, this method can control the shearer drum along the coal rock The interface is automatically adjusted to increase the recovery rate, but the downhole operation environment is complex, and the control accuracy of the automatic height adjustment is difficult to guarantee

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