Coal cutter cable automatic dragging control method based on double closed-loop control

Abstract

The invention relates to the technical field of coal mining, in particular to a coal cutter cable automatic dragging control method based on double closed-loop control. According to an existing method, a cable towing wheel is controlled to follow a coal mining machine to run at a half speed in the same direction, although a cable towing system can be controlled to run, the control precision and the real-time performance are greatly insufficient, and the risk that a cable of the coal mining machine is snapped exists. Operation information such as the position, the speed, the current and the torque of the cable towing wheel is collected in real time, and the position and the speed of the coal mining machine are combined to form a double-closed-loop control method based on the position and the torque to control operation of the cable towing wheel. The control method has the advantages that the designed control method is scientific and reasonable, the cable towing wheel is accurately controlled in real time, the safety and stability of an automatic cable towing system of the coal mining machine are ensured, and powerful support is provided for automatic mining of thin coal seams.

Description

technical field [0001] The invention relates to the technical field of cable control of a shearer in the underground mining process of a coal mine, in particular to an automatic dragging control method of a cable of a shearer based on double closed-loop control. Background technique [0002] When the coal seam is mined in the fully mechanized mining face of the coal mine, the shearer runs reciprocatingly on the scraper conveyor, and the cable of the shearer is dragged to run in the cable trough of the scraper conveyor, and there will be multiple bendings in the vertical direction. Especially in the application of thin coal seams, multiple bendings in the vertical direction will directly affect the operation of the shearer, resulting in reduced production efficiency. In order to solve the problem of multiple overlapping of shearer cables, the existing method is to collect information such as the position, direction, and speed of the shearer in real time, and control the tow c...

AI Technical Summary

Problems solved by technology

This method can meet the requirement that the shearer cable does not appear multiple bends, but the control accuracy is not high, and a relatively loose margin needs to be reserved for the cable during operation, and there is a possibility of breaking the cable clamp and cable at the same time. It belongs to the open-loop control method

In order to solve the problem that the cables of the shearer are stacked multiple times, and at the same time ensure that the tension is maintained properly during the towing process, so that the cable is not damaged due to excessive tension or the cable is too loose to cause discounts, the invention was invented. A method for automatic dragging control of shearer cables based on double closed-loop control

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