A left-right cooperative walking control method and device of a continuous miner

Abstract

The present application belongs to the technical field of walking control of coal mining machine, and solves the problems of lacking of coordinated control of left and right caterpillar belts and not enough optimization of self walking motor control of existing continuous mining machine. A left and right coordinated walking control method and device of continuous mining machine are proposed, including the following steps: S1: obtaining output values of left and right caterpillar belt control handles; S2: if straight going, executing steps S3-S4, if turning, executing steps S5-S7; S3: taking the motor controlled by the control handle with larger value in the output values as reference motor and obtaining speed feedback; S4: determining speed given of following motor according to speed feedback of reference motor; S5: taking the motor controlled by the control handle opposite to the turning direction as reference motor and obtaining speed feedback; S6: determining turning angle of target continuous mining machine; S7: determining speed given of following motor according to turning angle and speed feedback of reference motor. The present application can optimize output of following motor, and realize coordinated control of stable straight going and smooth turning of continuous mining machine.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of walking control of coal mining machine, and particularly relates to a left-right coordinated walking control method and device of continuous coal mining machine. BACKGROUND

[0002] The continuous coal mining machine adopts track walking, has small ground pressure, large ground contact area, compact structure, convenient operation, small turning radius and strong adaptability, and can walk and work in various narrow and complex road conditions. The walking control system of the previous vehicle is relatively simple, and the forward and backward movement and turning of the vehicle are realized by the driver operating the left and right track handles. However, it is often difficult to control according to the intention of the driver, and deviation often occurs during straight movement, and it is also difficult to accurately control the direction during turning, which has a great impact on the walking operation of the equipment.

[0003] The existing patent "Remote control system and mining method of side slope complete coal mining equipment" focuses on the remote coordinated walking control of multiple devices, and the "Quick collimation control system of continuous miner" mainly realizes the coordinated control of the cable winding vehicle and the continuous miner by increasing the sensor to monitor the environment of the continuous miner. The above two patents belong to the control field of continuous miner, but both belong to the coordinated control of continuous miner and other supporting devices, and neither of them proposes the coordinated control of the left and right tracks of the continuous miner itself, nor optimizes the walking motor control of the continuous miner itself. SUMMARY

[0004] The present application provides a left-right coordinated walking control method and device of continuous coal mining machine to solve at least one of the above technical problems in the prior art.

[0005] The present application adopts the following technical solution: a left-right coordinated walking control method of continuous coal mining machine, comprising the following steps:

[0006] S1: obtaining the output value of the left and right track operating handle;

[0007] S2: determining the straight or turning state of the target continuous miner according to the output value of the left and right track operating handle, if the target continuous miner is determined to be straight, steps S3-S4 are executed, and if the target continuous miner is determined to be turning, steps S5-S7 are executed;

[0008] S3: taking the motor controlled by the track operating handle with larger output value as the reference motor, taking the motor controlled by the other track operating handle as the following motor, and obtaining the speed feedback of the reference motor during the running of the target continuous miner;

[0009] S4: determining the speed given of the following motor according to the speed feedback of the reference motor and outputting;

[0010] S5: taking the motor controlled by the track operating handle in the opposite direction of the turning direction as the reference motor, the motor controlled by the other track operating handle as the following motor, and obtaining the speed feedback of the reference motor in the driving of the target continuous miner;

[0011] S6: determining the turning angle of the target continuous miner according to the output values of the left and right track operating handles;

[0012] S7: determining the speed given of the following motor according to the turning angle of the target continuous miner and the speed feedback of the reference motor and outputting.

[0013] Preferably, the positive and negative of the output values of the left and right track operating handles are defined as the direction, and the numerical values of the output values are defined as the size.

[0014] Preferably, in step S2, when the output values of the left and right track operating handles are both positive or both negative, and the absolute value of the ratio of the difference between the two to the larger one is less than the first threshold value, the driving state of the target continuous miner is determined as straight driving; otherwise, the driving state of the target continuous miner is determined as turning.

[0015] Preferably, the size of the first threshold value is 10%.

[0016] Preferably, in step S2, if the target continuous miner is determined as straight driving, and the output values of the left and right track operating handles are both positive, the target continuous miner advances, and if the output values of the left and right track operating handles are both negative, the target continuous miner retreats.

[0017] If the target continuous miner is determined as turning, the determination rule of the turning direction is as follows:

[0018] When the output values of the left and right track operating handles are both positive or both negative, the direction of the track operating handle with the smaller numerical value of the output value is the turning direction; when the output values of the left and right track operating handles are one positive and one negative, the direction of the track operating handle with the negative output value is the turning direction; when the output values of the left and right track operating handles are one positive and one zero, the direction of the track operating handle with the zero output value is the turning direction; when the output values of the left and right track operating handles are one negative and one zero, the direction of the track operating handle with the negative output value is the turning direction.

[0019] Preferably, in step S4, the calculation formula of the speed given of the following motor when the target continuous miner is driving straight is:

[0020] V2 = 2V1-V0

[0021] V2 = V1 + (V0 - V1) * (m / n) * tan (γ) Wherein, V2 is the speed given to the follow motor at T2; V1 is the speed feedback of the reference motor at T1; V0 is the speed feedback of the reference motor at T0; T2 is the target time, and T2 = T0 + 2Δt, T1 = T0 + Δt, and Δt is the refresh interval of the target continuous mining machine control system.

[0022] Preferably, in step S5, when the target continuous mining machine determines to turn, the determination rule of the reference motor is as follows:

[0023] When the output values of the left and right track control handles are both positive or both negative, the motor controlled by the track control handle with the larger output value is the reference motor; when the output values of the left and right track control handles are positive and negative, the motor controlled by the track control handle with the positive output value is the reference motor; when the output values of the left and right track control handles are positive and zero, the motor controlled by the track control handle with the positive output value is the reference motor; when the output values of the left and right track control handles are negative and zero, the motor controlled by the track control handle with the zero output value is the reference motor.

[0024] Preferably, in step S6, the calculation formula of the turning angle of the target continuous mining machine is:

[0025]

[0026] Wherein, γ is the turning angle; L1 is the output value of the left track control handle, ranging from -L max1 to L max1 ; L2 is the output value of the right track control handle, ranging from -L max2 to L max2 ; and γ max is the maximum turning angle that can be reached by the target continuous mining machine.

[0027] Preferably, in step S7, the calculation formula of the speed given to the follow motor when the target continuous mining machine turns is:

[0028]

[0029] Wherein, V2 is the speed given to the follow motor at T2; V1 is the speed feedback of the reference motor at T1; V0 is the speed feedback of the reference motor at T0; T2 is the target time, and T2 = T0 + 2Δt, T1 = T0 + Δt, and Δt is the refresh interval of the target continuous mining machine control system; m is the center distance between the front and rear wheels of the target continuous mining machine; n is the center distance between the left and right wheels of the target continuous mining machine; and γ is the turning angle.

[0030] The application also provides a left-right cooperative walking control device of a continuous miner and a left-right cooperative walking control method of the continuous miner.

[0031] The first acquisition module is configured to acquire output values of left-right track control handles of the target continuous miner; the first determination module is configured to determine a straight walking or turning state of the target continuous miner according to the output values of the left-right track control handles; the second acquisition module is configured to acquire speed feedback of a reference motor of the target continuous miner during walking; the second determination module is configured to determine a speed given value of a following motor according to the speed feedback of the reference motor when the target continuous miner is walking straight; the third determination module is configured to calculate a turning angle of the target continuous miner according to the output values of the left-right track control handles when the target continuous miner is turning, and determine the speed given value of the following motor in combination with the speed feedback of the reference motor; and the first control module is configured to output the speed given value of the following motor to control walking of the target continuous miner.

[0032] Compared with the prior art, the application has the following beneficial effects:

[0033] The application realizes stable straight walking and smooth turning left-right cooperative walking control by real-time sampling of the left-right walking motor speed and the left-right track control handle by the vehicle controller, accurate determination of the straight walking (forward walking or backward walking) and the turning angle of the target continuous miner, and optimization of the output given value of the following motor, thereby increasing the walking operation range of the continuous miner; the application conforms to the development trend of green environmental protection and automation and intelligence of coal mines, and can improve the walking ability, maneuverability and safety of the continuous miner, promote the update of the automation function of the continuous miner, and meet the market development demand; the application has reference significance for left-right cooperative design of other new energy vehicles, and can bring additional benefits. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative labor.

[0035] Figure 1 is a flowchart of the control method of the application;

[0036] Figure 2 is a module structure diagram of the control device of the application. DETAILED DESCRIPTION

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0039] This invention provides an embodiment:

[0040] like Figure 1 As shown, a method for controlling the left and right coordinated movement of a continuous coal mining machine includes the following steps:

[0041] S1: Obtain the output values ​​of the left and right track control handles;

[0042] S2: Based on the output values ​​of the left and right track control handles, determine whether the target continuous mining machine is moving straight or turning. If the target continuous mining machine is determined to be moving straight, execute steps S3-S4. If the target continuous mining machine is determined to be turning, execute steps S5-S7.

[0043] S3: Use the motor controlled by the track control handle with the larger output value as the reference motor, and the motor controlled by the other track control handle as the follow motor, and obtain the speed feedback of the reference motor during the movement of the target continuous mining machine.

[0044] S4: Determine and output the speed setpoint of the follower motor based on the speed feedback of the reference motor;

[0045] S5: The motor controlled by the track control handle in the opposite direction of the turning direction is used as the reference motor, and the motor controlled by the other track control handle is used as the follow motor. The speed feedback of the reference motor during the movement of the target continuous mining machine is obtained.

[0046] S6: Determine the turning angle of the target continuous mining machine based on the output values ​​of the left and right track control handles;

[0047] S7: Determine the speed given of the follow motor according to the steering angle of the target continuous miner and the speed feedback of the reference motor and output.

[0048] In this embodiment, the positive and negative of the output value of the left and right track control handle is defined as the direction, and the numerical value (i.e. absolute value) of the output value is defined as the size. The subsequent output value determination is made on this basis. This definition is different from the conventional definition in mathematics, and the positive and negative do not represent the size.

[0049] In step S1, it should be noted that the walking of the continuous miner is usually realized by the driver controlling the left and right track control handle, and the control system can generate corresponding electrical signals according to the left and right track control handle.

[0050] It can be understood that the left and right track control handle has a certain range due to the limitation of the mechanical structure. In this embodiment, a fixed numerical range can be set for the opening of the left and right track control handle, such as -100-100. Further, after detecting the electrical signal, the action amplitude of the left and right track control handle can be determined according to the numerical value corresponding relationship between the left and right track control handle and the electrical signal.

[0051] In step S2, when the output values of the left and right track control handle are both positive or both negative, and the absolute value of the ratio of the difference between the two to the larger one is less than 10%, i.e. when the driving state of the target continuous miner is determined to be straight; otherwise, the driving state of the target continuous miner is determined to be turning.

[0052] Specifically, if the target continuous miner is determined to be straight, and the output values of the left and right track control handle are both positive, the target continuous miner advances, and if the output values of the left and right track control handle are both negative, the target continuous miner retreats.

[0053] If the target continuous miner is determined to be turning, the turning direction is determined as follows:

[0054] When the output values of the left and right track control handle are both positive or both negative, the direction of the track control handle with the smaller output value is the turning direction; when the output values of the left and right track control handle are positive and negative, the direction of the track control handle with the negative output value is the turning direction; when the output values of the left and right track control handle are positive and zero, the direction of the track control handle with the zero output value is the turning direction; when the output values of the left and right track control handle are negative and zero, the direction of the track control handle with the negative output value is the turning direction.

[0055] The speed feedback of the reference motor during the driving of the target continuous miner. Under normal circumstances, the control system can obtain the value by collecting the speed sensor of the motor.

[0056] In step S4, the calculation formula of the speed given of the following motor when the target continuous miner is driving straight is:

[0057] V2 = 2V1-V0

[0058] In the formula, V2 is the speed given of the following motor at T2; V1 is the speed feedback of the reference motor at T1; V0 is the speed feedback of the reference motor at T0; T2 is the target time, and T2 = T0+2Δt, T1 = T0+Δt, and Δt is the refresh interval of the control system of the target continuous miner, and the measurement unit of Δt is ms level. The three time points are constantly updated with the operation of the system.

[0059] In step S5, when the target continuous miner determines to turn, the determination rule of the reference motor is as follows:

[0060] When the output values of the left and right track control handles are both positive or both negative, the motor controlled by the track control handle with the larger output value is the reference motor; when the output values of the left and right track control handles are positive and negative, the motor controlled by the track control handle with the positive output value is the reference motor; when the output values of the left and right track control handles are positive and zero, the motor controlled by the track control handle with the positive output value is the reference motor; when the output values of the left and right track control handles are negative and zero, the motor controlled by the track control handle with the zero output value is the reference motor.

[0061] In step S6, the calculation formula of the turning angle of the target continuous miner is:

[0062]

[0063] In the formula, γ is the turning angle; L1 is the output value of the left track control handle, ranging from -L max1 to L max1 ; L2 is the output value of the right track control handle, ranging from -L max2 to L max2 ; and γ max is the maximum turning angle that can be reached by the target continuous miner.

[0064] In step S7, the calculation formula of the speed given of the following motor when the target continuous miner is turning is:

[0065]

[0066] In the formula, V2 is a speed given at T2 following the motor; V1 is a speed feedback of the reference motor at T1; V0 is a speed feedback of the reference motor at T0; T2 is a target time, and T2=T0+2Δt, T1=T0+Δt, Δt is a refresh interval of the target continuous miner control system, m is the center distance between the front and rear wheels of the target continuous miner, n is the center distance between the left and right wheels of the target continuous miner, γ is a steering angle, and the measurement unit of Δt is ms level, the refresh interval is very short, and the three time points are continuously updated with the operation of the system. The vehicle controller has a data storage and updating function.

[0067] In order to realize the above control, the application further provides a left-right cooperative walking control device of a continuous miner, as shown in the figure, comprising a first acquisition module, a first determination module, a second acquisition module, a second determination module, a third acquisition module and a first control module. Figure 2

[0068] The first acquisition module is configured to acquire the output value of the left-right track control handle of the target continuous miner; the first determination module is configured to determine the straight or steering state of the target continuous miner according to the output value of the left-right track control handle; the second acquisition module is configured to acquire the speed feedback of the reference motor of the target continuous miner during driving; the second determination module is configured to determine the speed given of the following motor according to the speed feedback of the reference motor when driving straight; the third determination module is configured to calculate the steering angle of the target continuous miner according to the output value of the left-right track control handle when steering, and determine the speed given of the following motor in combination with the speed feedback of the reference motor; and the first control module is configured to output the speed given of the following motor to control the driving of the target continuous miner.

[0069] In the embodiment, the control device of the continuous miner can be applied to any electronic device, so that the electronic device can perform the control function of the continuous miner. The electronic device can be a vehicle-mounted device with various operating systems, touch screens and / or display screens.

[0070] The above is only a preferred specific embodiment of the application, but the protection scope of the application is not limited thereto. Any changes or replacements within the technical range disclosed by the application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope of the claims.​

Claims

1. A method for controlling the left and right coordinated movement of a continuous coal mining machine, characterized in that, Includes the following steps: S1: Obtain the output values ​​of the left and right track control handles; the positive or negative sign of the output values ​​of the left and right track control handles is defined as the direction, and the numerical value of the output values ​​is defined as the magnitude. S2: Based on the output values ​​of the left and right track control handles, determine whether the target continuous mining machine is traveling straight or turning. If the target continuous mining machine is determined to be traveling straight, proceed to steps S3-S4; if the target continuous mining machine is determined to be turning, proceed to steps S5-S7. In step S2, when the output values ​​of the left and right track control handles are both positive or both are negative, and the absolute value of the ratio of the difference between the two to the larger of the two values ​​is less than the first threshold, the travel state of the target continuous mining machine is determined to be traveling straight; otherwise, the travel state of the target continuous mining machine is determined to be turning. In step S2, if the target continuous mining machine is determined to be moving straight and the output values ​​of both left and right track control handles are positive, the target continuous mining machine moves forward; if the output values ​​of both left and right track control handles are negative, the target continuous mining machine moves backward. If the target continuous mining machine is determined to be turning, the rules for determining the turning direction are as follows: when the output values ​​of both left and right track control handles are both positive or both are negative, the direction of the track control handle with the smaller output value is the turning direction; when the output values ​​of the left and right track control handles are one positive and one negative, the direction of the track control handle with the negative output value is the turning direction; when the output values ​​of the left and right track control handles are one positive and one zero, the direction of the track control handle with the zero output value is the turning direction; when the output values ​​of the left and right track control handles are one negative and one zero, the direction of the track control handle with the negative output value is the turning direction. S3: Use the motor controlled by the track control handle with the larger output value as the reference motor, and the motor controlled by the other track control handle as the follow motor, and obtain the speed feedback of the reference motor during the movement of the target continuous mining machine. S4: Determine and output the speed setpoint of the follower motor based on the speed feedback of the reference motor; S5: The motor controlled by the track control handle in the opposite direction of the turning direction is used as the reference motor, and the motor controlled by the other track control handle is used as the follow motor. The speed feedback of the reference motor during the movement of the target continuous mining machine is obtained. S6: Determine the turning angle of the target continuous mining machine based on the output values ​​of the left and right track control handles; S7: Determine and output the speed setting of the follower motor based on the steering angle of the target continuous mining machine and the speed feedback of the reference motor.

2. The left-right coordinated walking control method for a continuous coal mining machine according to claim 1, characterized in that: The first threshold is 10%.

3. The left-right coordinated walking control method for a continuous coal mining machine according to claim 1, characterized in that: In step S4, the calculation formula for the rotational speed of the follower motor when the target continuous mining machine is moving straight is: In the formula, for The speed is constantly adjusted to follow the motor's rotational speed. for Speed ​​feedback of the time-reference motor; for Speed ​​feedback of the time-reference motor; The time is the target time, and , , The refresh interval for the operation of the target continuous mining machine control system.

4. The left-right coordinated walking control method for a continuous coal mining machine according to claim 1, characterized in that: In step S5, when the target continuous mining machine is determined to be turning, the determination rule for the reference motor is as follows: When the output values ​​of the left and right track control handles are both positive or both are negative, the motor controlled by the track control handle with the larger output value is used as the reference motor; when the output values ​​of the left and right track control handles are one positive and one negative, the motor controlled by the track control handle with the positive output value is used as the reference motor; when the output values ​​of the left and right track control handles are one positive and one zero, the motor controlled by the track control handle with the positive output value is used as the reference motor; when the output values ​​of the left and right track control handles are one negative and one zero, the motor controlled by the track control handle with the zero output value is used as the reference motor.

5. The left-right coordinated walking control method for a continuous coal mining machine according to claim 4, characterized in that: In step S6, the formula for calculating the turning angle of the target continuous mining machine is: In the formula, This refers to the steering angle; The output value of the left track control handle, ranging from... ; The output value of the right track control handle, ranging from... ; The target is the maximum turning angle that the continuous mining machine can achieve.

6. The left-right coordinated walking control method for a continuous coal mining machine according to claim 5, characterized in that: In step S7, the calculation formula for the rotational speed of the follower motor when the target continuous mining machine turns is as follows: In the formula, for The speed is constantly adjusted to follow the motor's rotational speed. for Speed ​​feedback of the time-reference motor; for Speed ​​feedback of the time-reference motor; The time is the target time, and , , The refresh interval for the operation of the target continuous mining machine control system; The target is the center distance between the front and rear wheels of the continuous mining machine; The distance between the center points of the left and right wheels of the target continuous mining machine; This is the steering angle.

7. A left-right coordinated movement control device for a continuous coal mining machine, used in the left-right coordinated movement control method for a continuous coal mining machine as described in any one of claims 1 to 6, characterized in that: It includes a first acquisition module, a first determination module, a second acquisition module, a second determination module, a third acquisition module, and a first control module; The system comprises the following modules: a first acquisition module for acquiring the output values ​​of the left and right track control handles of the target continuous mining machine; a first determination module for determining the straight-line or turning state of the target continuous mining machine based on the output values ​​of the left and right track control handles; a second acquisition module for acquiring the speed feedback of the reference motor during the movement of the target continuous mining machine; a second determination module for determining the speed setpoint of the follower motor based on the speed feedback of the reference motor when moving straight; a third determination module for calculating the turning angle of the target continuous mining machine based on the output values ​​of the left and right track control handles when turning, and determining the speed setpoint of the follower motor in conjunction with the speed feedback of the reference motor; and a first control module for outputting the speed setpoint of the follower motor to control the movement of the target continuous mining machine.

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