A control method and device for a power cable dragging system of a coal mining machine

Abstract

The application provides a coal cutter power cable towing system control method and device, and belongs to the technical field of coal mining. The method obtains a first position of a towing cable trolley and a second position of a coal cutter at a current time, determines a first relative position deviation corresponding to the current time according to a preset relative position relationship, and determines a change trend of the relative position deviation according to a relative position deviation at a previous time. When the first relative position deviation exceeds a preset reasonable deviation range, a followability result is obtained in combination with a coal cutter operation parameter and a towing cable trolley operation parameter, and a target object is controlled based on the followability result and the change trend, so that closed-loop adjustment is realized. The application can improve the accuracy and adaptability of follow-up control of the towing cable trolley and the coal cutter, and is conducive to timely and effective follow-up.

Description

Technical Field

[0001] This application relates to the field of coal mining technology, and in particular to a control method and device for a coal mining machine power cable dragging system. Background Technology

[0002] In coal mining faces, the coal mining machine needs to be powered via power cables as it moves along the face. These power cables are typically laid along the scraper conveyor and are linked to the coal mining machine via a towing system. Especially in complex conditions such as overhead mining, downward mining, steeply inclined mining, and thin coal seams, the coal mining machine's operating path is long and operating conditions change frequently. The power cables are easily affected by bending, pulling, and external structural constraints during the process. To ensure continuous and stable operation of the coal mining machine, a power cable towing system is usually required. This system guides and tows the power cables using a cable-towing trolley, ensuring that the power cables maintain a relatively reasonable stress state and arrangement as the coal mining machine moves.

[0003] In related technologies, the control of power cable towing systems for coal mining machines typically employs speed-following control or a control method combining cable tension and operating speed. Speed-following control generally involves acquiring the traction speed of the coal mining machine and the operating speed of the cable trolley, comparing and analyzing these two values, and then adjusting the speed of the cable trolley's drive motor to ensure the cable trolley follows the coal mining machine. Tension and speed control, on the other hand, builds upon speed-following by further acquiring power cable tension information and combining it with the coal mining machine's traction speed and the cable trolley's operating speed for control and adjustment. However, since the coal mining machine's traction system and the cable trolley's drive system are usually independent, they differ in motor characteristics, frequency conversion drive characteristics, and acceleration / deceleration response characteristics. Relying solely on speed-following is insufficient to guarantee a consistently reasonable relative position between the cable trolley and the coal mining machine. Especially during acceleration, deceleration, or reversal of the coal mining machine, the cable trolley may follow too quickly or too slowly, leading to problems such as repeated folding, snagging, derailment, excessive stretching, or localized deformation of the power cable. On the other hand, when control is based on tension signals, the force sensor is relatively rigid, and tension anomalies are often only detected after the system has already shown a significant mismatch. This leaves the control system with little adjustment time and range, making it difficult to adapt to the actual control needs of the coal mining machine power cable towing system under complex working conditions in a timely and effective manner.

[0004] Therefore, in the control of the power cable towing system of the coal mining machine, the relative position of the cable trolley and the coal mining machine is difficult to maintain accurately, the adaptability of following adjustment under complex working conditions is insufficient, and the existing control methods are difficult to achieve effective following in a timely manner, which have become problems that urgently need to be solved. Summary of the Invention

[0005] This application provides a control method and device for a power cable towing system of a coal mining machine, which aims to solve the problems in the existing control of the power cable towing system of a coal mining machine, where relying solely on speed following or tension feedback is insufficient to accurately reflect the actual following state between the cable trolley and the coal mining machine, resulting in insufficient relative position control accuracy, lagging following adjustment, and difficulty in timely and effective following under complex working conditions.

[0006] In a first aspect, this application provides a control method for a coal mining machine power cable dragging system, the method comprising: Obtain the first position of the cable-dragging trolley and the second position of the coal mining machine at the current moment; Based on the preset relative position relationship, the first position, and the second position, the first relative position deviation between the cable-dragging trolley and the coal mining machine at the current moment is determined; The trend of relative position deviation is determined based on the first relative position deviation and the second relative position deviation; wherein, the second relative position deviation is the relative position deviation between the cable-stayed trolley and the coal mining machine at the previous moment. When the first relative position deviation exceeds the preset reasonable deviation range, the following result of the following ability of the towing cable trolley to follow the coal mining machine is obtained based on the operating parameters of the coal mining machine and the operating parameters of the towing cable trolley. Based on the followability results and the changing trend of the relative position deviation, the target object is controlled so that the first relative position deviation is restored to the preset reasonable deviation range; the target object is the cable trolley, or the target object is the cable trolley and the coal mining machine.

[0007] In one possible design, before determining the first relative position deviation between the cable-stayed trolley and the coal mining machine at the current moment based on a preset relative position relationship, the first position, and the second position, the method further includes: A contact switch is installed at the tail end of the scraper conveyor, and the location of the contact switch is determined as the origin of the coordinate system. Using the positions of the cable-hauling trolley and the coal mining machine as position coordinate variables, and combining them with the time variable, a two-dimensional relative position coordinate system between the cable-hauling trolley and the coal mining machine is established. The preset relative position relationship is determined based on the two-dimensional relative position coordinate system.

[0008] In one possible design, obtaining the first position of the cable-stayed trolley and the second position of the coal mining machine at the current moment includes: The running position information of the cable-hauling trolley is obtained by a first encoder, which is installed in the drive unit of the cable-hauling trolley. The first position is determined based on the running position information corresponding to the cable-dragging trolley; The operating position information of the coal mining machine is obtained by a second encoder, which is installed in the traction drive unit of the coal mining machine. The second position is determined based on the operating position information corresponding to the coal mining machine.

[0009] In one possible design, determining the first relative position deviation between the cable-stayed trolley and the coal mining machine at the current moment, based on a preset relative position relationship, the first position, and the second position, includes: Based on the preset relative position relationship, the theoretical relative position of the cable-dragging trolley and the coal mining machine at the current moment is determined; Based on the first position and the second position, determine the actual relative position of the cable-dragging trolley and the coal mining machine at the current moment; The first relative position deviation is determined based on the theoretical relative position and the actual relative position.

[0010] In one possible design, after determining the first relative position deviation between the cable-stayed trolley and the coal mining machine at the current moment based on a preset relative position relationship, the first position, and the second position, the method further includes: Based on the elongation and diameter of the power cable, as well as the results of field tests, the preset reasonable deviation range is determined; Based on the preset reasonable deviation range, the allowable adjustment range is determined; wherein, the allowable adjustment range is the relative position deviation range between the cable-stayed trolley and the coal mining machine when they are in an adjustable state.

[0011] In one possible design, when the first relative position deviation exceeds a preset reasonable deviation range, based on the operating parameters of the coal mining machine and the operating parameters of the cable-stayed trolley, the following results on the cable-stayed trolley's ability to follow the coal mining machine are obtained: The real-time operating speed and real-time acceleration of the coal mining machine, as well as the real-time operating speed, real-time acceleration, and maximum acceleration of the cable-dragging trolley, are obtained. Based on the first relative position deviation, the allowable adjustment range, the real-time operating speed and real-time acceleration of the coal mining machine, and the real-time operating speed, real-time acceleration and maximum acceleration of the cable-dragging trolley, the theoretical maximum allowable adjustment time is determined. Based on the maximum allowable adjustment time in the theory, the followability result of the cable-stayed trolley to the coal mining machine is obtained; wherein, the followability result is used to indicate that the cable-stayed trolley can follow the coal mining machine, or the followability result is used to indicate that the cable-stayed trolley cannot follow the coal mining machine.

[0012] In one possible design, obtaining the followability result of the cable-stayed trolley to the coal mining machine based on the maximum allowable adjustment time according to the theory includes: Based on the theoretically allowed maximum adjustment time, the adjustable distance of the cable-dragging trolley corresponding to the theoretically allowed maximum adjustment time is determined; The adjustable distance is compared with the remaining allowable adjustment distance of the first relative position deviation relative to the allowable adjustment range; When the adjustable distance is less than or equal to the remaining allowable adjustable distance, the followability result is used to indicate that the cable-stayed trolley can follow the coal mining machine; When the adjustable distance is greater than the remaining allowable adjustable distance, the followability result is used to indicate that the cable-stayed trolley cannot follow the coal mining machine.

[0013] In one possible design, controlling the target object based on the followability result and the changing trend of the relative positional deviation includes: When the followability result is used to indicate that the cable trolley can follow, and the trend of the relative position deviation indicates that the first relative position deviation is increasing, the cable trolley is controlled to run at maximum acceleration. When the followability result indicates that the cable trolley can follow, and the trend of the relative position deviation indicates that the first relative position deviation is decreasing, the cable trolley is controlled to stop the main drive operation. When the followability result indicates that the cable trolley cannot follow, the coal mining machine is controlled to slow down until the cable trolley can follow, and then the cable trolley is controlled to adjust its position.

[0014] In one possible design, before controlling the target object based on the followability result and the trend of change in the relative positional deviation, the method further includes: During the start-up or reversing phase of the cable-hauling trolley, the cable-hauling trolley is controlled to run ahead of the coal mining machine in the corresponding running direction for a preset time to eliminate the influence of elastic deformation of the chain drive. After the preset time period ends, the cable-hauling trolley is controlled to enter the following control state corresponding to the coal mining machine.

[0015] Secondly, this application provides a control device for a coal mining machine power cable dragging system, the device comprising: The position acquisition module is used to obtain the first position of the cable-dragging trolley and the second position of the coal mining machine at the current moment; The deviation determination module is used to determine the first relative position deviation between the cable-dragging trolley and the coal mining machine at the current moment based on the preset relative position relationship, the first position, and the second position; The trend determination module is used to determine the trend of the relative position deviation based on the first relative position deviation and the second relative position deviation; wherein, the second relative position deviation is the relative position deviation between the cable-stayed trolley and the coal mining machine at the previous moment; The result acquisition module is used to obtain the following result of the cable trolley to the coal mining machine based on the operating parameters of the coal mining machine and the operating parameters of the cable trolley when the first relative position deviation exceeds the preset reasonable deviation range. The control module is used to control the target object based on the followability result and the changing trend of the relative position deviation, so as to restore the first relative position deviation to the preset reasonable deviation range; wherein the target object is the cable trolley, or the target object is the cable trolley and the coal mining machine.

[0016] Thirdly, embodiments of this application provide an electronic device, including: a memory and at least one processor; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method described in the first aspect or various possible designs of the first aspect.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed, implement the method described in the first aspect or various possible designs of the first aspect.

[0018] Fifthly, this application provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to implement the method described in the first aspect or various possible designs of the first aspect.

[0019] This application provides a control method and apparatus for a coal mining machine power cable dragging system. The method obtains the first position of the cable-dragging trolley and the second position of the coal mining machine at the current moment, and determines the first relative position deviation between the cable-dragging trolley and the coal mining machine at the current moment by combining a preset relative position relationship. This allows the control process to move beyond indirect judgments based solely on speed or tension information, and instead directly focus on the actual relative position deviation between the cable-dragging trolley and the coal mining machine. This more accurately reflects the true following state between the cable-dragging trolley and the coal mining machine. Then, the first relative position deviation at the current moment is compared with the second relative position deviation at the previous moment to determine the trend of the relative position deviation. This not only identifies whether a deviation exists at the current moment but also determines whether the deviation is increasing or decreasing, thereby improving... This application possesses a high sensitivity to dynamic changes under complex working conditions. Based on this, when the first relative position deviation exceeds a preset reasonable deviation range, it further combines the operating parameters of the coal mining machine and the cable trolley to obtain the cable trolley's ability to follow the coal mining machine. This allows it to determine whether the cable trolley has the ability to effectively recover the relative position deviation under the current operating state, avoiding the use of a single control method when the cable trolley is actually unable to follow effectively, which could lead to adjustment lag or control failure. Finally, based on the followability results and the changing trend of the relative position deviation, this application controls the target object. The target object can be either just the cable trolley or both the cable trolley and the coal mining machine, thereby achieving targeted adjustment matching the current following state and restoring the first relative position deviation to a preset reasonable deviation range. Attached Figure Description

[0020] Figure 1 A flowchart illustrating a control method for a coal mining machine power cable dragging system provided in an embodiment of this application; Figure 2 A schematic diagram of a two-dimensional relative position coordinate system between a cable-hauling trolley and a coal mining machine, provided for an embodiment of this application; Figure 3 A schematic diagram of the structure of a control device for a coal mining machine power cable dragging system provided in this application embodiment; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims and drawings of this application are intended to cover non-exclusive inclusion.

[0023] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of the phrase "embodiment" in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] In this article, the term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists, A and B can exist simultaneously, and B exists. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0025] Furthermore, the terms "first," "second," etc., in the specification and claims of this application or in the aforementioned drawings are used to distinguish different objects rather than to describe a specific order, and may explicitly or implicitly include one or more of the features.

[0026] In the description of this application, unless otherwise stated, "multiple" and "at least two" mean two or more (including two), and similarly, "multiple groups" and "at least two groups" mean two or more (including two groups).

[0027] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, "connected" or "linked" can refer not only to a physical connection, but also to an electrical connection or a signal connection. For instance, it can be a direct connection, i.e., a physical connection, or an indirect connection through at least one intermediate component, as long as the circuit is connected. It can also refer to the internal connection between two components. A signal connection can refer not only to a signal connection through a circuit, but also to a signal connection through a medium, such as radio waves. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, different technical features in this application can be combined with each other.

[0029] Figure 1 This is a flowchart illustrating a control method for a coal mining machine power cable dragging system, provided as an embodiment of this application. Figure 1 As shown, the control method provided in this application embodiment specifically includes S101 to S105, and S101 to S105 will be described in detail below.

[0030] S101. Obtain the first position of the cable-dragging trolley and the second position of the coal mining machine at the current moment.

[0031] The first position represents the current position of the cable-dragging trolley at the current moment, and the second position represents the current position of the coal mining machine at the current moment.

[0032] Both the first position and the second position can be position values ​​relative to a preset coordinate origin, or position information that reflects the current position status of the cable-hauling trolley and the coal mining machine. As long as the actual relative position between the cable-hauling trolley and the coal mining machine can be determined based on the first and second positions, and thus the first relative position deviation can be determined, they can all be used as the first and second positions in this application. For example, the first and second positions can be absolute position values, or position quantities obtained through displacement accumulation, encoder pulse conversion, or angular displacement conversion.

[0033] In one possible embodiment, S101 can be implemented by S1011 to S1014, which are described in detail below.

[0034] S1011. Obtain the running position information of the cable-hauling trolley through the first encoder, the first encoder being installed in the drive unit of the cable-hauling trolley.

[0035] It should be noted that, to obtain the actual position of the cable-hauling trolley at the current moment, a first encoder can be installed on the drive unit of the cable-hauling trolley. The first encoder can be a relative encoder, used to detect the motion state of the cable-hauling trolley's drive chain transmission mechanism in real time. The first encoder can be used to monitor the rotation angle and number of rotations of the drive sprocket, or to output pulse signals corresponding to the rotation state of the sprocket.

[0036] Specifically, the operating position information corresponding to the cable trolley may include at least one of the following: the current rotation angle of the sprocket, the cumulative number of rotations, and the direction of rotation. Since the cable trolley moves along the working surface via chain drive, there is a correspondence between the rotation state of the sprocket in the drive unit and the operating position of the cable trolley; by collecting the operating position information corresponding to the cable trolley, the transmission state of the cable trolley drive chain at the current moment can be reflected.

[0037] In this embodiment, the first encoder is installed in the drive unit of the cable towing trolley and can directly correspond to the transmission actuator of the cable towing trolley. Compared with the method of indirectly calculating the position by relying solely on motor speed or control commands, it can more accurately obtain the position information of the cable towing trolley during actual operation and reduce the position deviation caused by transmission lag, slippage or control error.

[0038] S1012. Determine the first position based on the running position information of the cable-dragging trolley.

[0039] The first position is used to characterize the current position of the cable-dragging trolley along the working face direction or along the extension direction of the scraper conveyor.

[0040] Since the cable trolley moves via a chain drive mechanism, and the sprocket diameter, the number of chain slots passed through, and the chain link length all have corresponding relationships, the running length of the cable trolley's drive chain at the current moment can be calculated based on the running position information. After determining how many chain links the cable trolley's drive chain has run through, and considering that the length of each chain link is a fixed value, the cumulative displacement of the cable trolley can be obtained.

[0041] In this embodiment, determining the first position based on the running position information of the cable-hauling trolley essentially involves converting the rotation state of the sprocket into the position of the cable-hauling trolley along its running direction. This method allows for a more accurate acquisition of the cable-hauling trolley's current position, providing fundamental data for subsequently determining the actual relative position between the cable-hauling trolley and the coal mining machine. Compared to estimating the position solely based on the cable-hauling trolley's running speed, this embodiment more realistically reflects the actual running state of the cable-hauling trolley, thus improving the accuracy of subsequent relative position deviation calculations.

[0042] S1013. Obtain the operating position information of the coal mining machine through the second encoder, which is installed in the traction drive unit of the coal mining machine.

[0043] It should be noted that, to obtain the actual position of the coal mining machine at the current moment, a second encoder can be installed in the traction drive unit of the coal mining machine. The second encoder can be a relative encoder, used to detect the motion state of the coal mining machine's traction system in real time. The second encoder can be used to monitor the rotation angle and number of rotations of the traction wheel, or to output pulse signals corresponding to the rotation state of the traction wheel.

[0044] Specifically, the operating position information corresponding to the coal mining machine may include at least one of the following: the current rotation angle of the traction wheel, the cumulative number of rotations, and the direction of rotation. Because the coal mining machine traction system features gear and rack operation, the rotation state of the traction wheel in the traction drive unit corresponds to the operating position of the coal mining machine. By collecting the operating position information corresponding to the coal mining machine, the operating status of the coal mining machine traction system at the current moment can be reflected.

[0045] In this embodiment, the second encoder is installed in the traction drive unit of the coal mining machine and can directly correspond to the traction actuator of the coal mining machine. Compared with the method of indirectly calculating the position by only the coal mining machine's running speed or control commands, it can more accurately obtain the position information of the coal mining machine during actual operation and reduce the position error caused by acceleration and deceleration changes, mechanical transmission errors or control deviations.

[0046] S1014. Determine the second position based on the operating position information of the coal mining machine.

[0047] The second position is used to characterize the current position of the coal mining machine along the working face direction or along the extension direction of the scraper conveyor.

[0048] Since the coal mining machine's traction system uses a gear and rack transmission, and the fixed pitch of the traction wheel is a known parameter, the current running distance of the coal mining machine can be calculated based on its operating position information. After determining the cumulative advance corresponding to the rotation of the traction wheel, and combining this with the preset coordinate origin, the second position of the coal mining machine at the current moment can be obtained.

[0049] In this embodiment, determining the second position based on the operating position information of the coal mining machine essentially involves converting the rotation state of the traction wheel into the position of the coal mining machine along its operating direction. This method allows for a more accurate acquisition of the coal mining machine's current position, providing fundamental data for subsequently determining the actual relative position between the cable-stayed trolley and the coal mining machine, as well as the first relative position deviation. Compared to estimating the position solely based on the coal mining machine's speed signal, this embodiment more accurately reflects the actual operating state of the coal mining machine under different working conditions, which is beneficial for improving the reliability of subsequent follow-up state judgment and adjustment control.

[0050] It should be noted that this application does not limit the specific implementation method for obtaining the first position of the cable-hauling trolley and the second position of the coal mining machine. In addition to the above-mentioned method of obtaining the corresponding operating position information of the cable-hauling trolley and the coal mining machine through the first encoder and the second encoder respectively and determining the first position and the second position, other detection methods or conversion methods that can characterize the current position of the cable-hauling trolley and the coal mining machine can also be used.

[0051] For example, the first position and the second position can also be obtained by one or more of the following: displacement sensor, speed sensor combined with time integration, laser rangefinder, visual recognition device, magnetic grating ruler, optical grating ruler, proximity switch array, and radio frequency identification positioning device. Alternatively, they can be indirectly determined by performing fusion calculations on the motion parameters of the cable-stayed trolley and the coal mining machine.

[0052] S102. Based on the preset relative position relationship, the first position and the second position, determine the first relative position deviation between the cable-dragging trolley and the coal mining machine at the current moment.

[0053] Among them, the preset relative position relationship is used to characterize the positional correspondence that the cable-dragging trolley and the coal mining machine should satisfy under normal following conditions.

[0054] Based on the preset relative position relationship and the first and second positions, the degree of deviation of the actual relative position of the cable-hauling trolley and the coal mining machine at the current moment from the preset position relationship can be determined, thereby obtaining the first relative position deviation.

[0055] In this embodiment, by determining the first relative position deviation, a basis can be provided for judging the subsequent trend of relative position deviation changes and for the following control of the cable-stayed trolley.

[0056] S103. Determine the trend of the relative position deviation based on the first relative position deviation and the second relative position deviation.

[0057] The second relative position deviation is the relative position deviation between the cable-dragging trolley and the coal mining machine at the previous moment.

[0058] It should be noted that the first relative position deviation is used to characterize the degree of relative position deviation between the cable-stayed trolley and the coal mining machine at the current moment, while the second relative position deviation is used to characterize the degree of relative position deviation between the cable-stayed trolley and the coal mining machine at the previous moment. The trend of the relative position deviation is used to characterize how the relative position deviation between the cable-stayed trolley and the coal mining machine changes over time.

[0059] By comparing the first relative position deviation and the second relative position deviation, it can be determined whether the relative position deviation between the cable-hauling trolley and the coal mining machine is increasing, decreasing, or basically stable.

[0060] In one possible implementation, when the first relative position deviation is greater than the second relative position deviation, the trend of the relative position deviation can be determined to be increasing; when the first relative position deviation is less than the second relative position deviation, the trend of the relative position deviation can be determined to be decreasing; and when the first relative position deviation is equal to or approximately equal to the second relative position deviation, the trend of the relative position deviation can be determined to be basically stable.

[0061] It should be noted that the second relative position deviation can be obtained by recording and storing the relative position deviation corresponding to the previous moment. At the current moment, the controller can retrieve the second relative position deviation saved at the previous moment and compare it with the first relative position deviation at the current moment, thereby obtaining the trend of the relative position deviation.

[0062] In this embodiment, compared to judging the following status of the cable-hauling trolley and the coal mining machine solely based on the first relative position deviation at the current moment, by further introducing the second relative position deviation at the previous moment and determining the changing trend of the relative position deviation, the dynamic changes in the relative position relationship between the cable-hauling trolley and the coal mining machine can be reflected more accurately, providing a more sufficient basis for subsequent adjustment of the control target.

[0063] For example, when the trend of relative position deviation indicates an increase in the first relative position deviation, it means that the relative position deviation between the cable-stayed trolley and the coal mining machine is further widening; when the trend of relative position deviation indicates a decrease in the first relative position deviation, it means that the relative position deviation between the cable-stayed trolley and the coal mining machine is decreasing. Based on these trends, control strategies can be specifically determined in subsequent control processes, thereby improving the accuracy and effectiveness of the following control of the cable-stayed trolley and the coal mining machine.

[0064] In this embodiment, by determining the trend of the relative position deviation based on the first relative position deviation and the second relative position deviation, a basis can be provided for subsequent control of the target object based on the followability results and the trend of the relative position deviation, so that the relative position deviation between the cable trolley and the coal mining machine can be more effectively restored to the preset reasonable deviation range.

[0065] S104. When the first relative position deviation exceeds the preset reasonable deviation range, the following results of the following are obtained based on the operating parameters of the coal mining machine and the operating parameters of the cable trolley.

[0066] Among them, the operating parameters of the coal mining machine are used to characterize the operating status of the coal mining machine at the current moment, and the operating parameters of the cable trolley are used to characterize the operating status of the cable trolley at the current moment.

[0067] If the first relative position deviation exceeds the preset reasonable deviation range, based on the operating parameters of the coal mining machine and the operating parameters of the cable trolley, it can be determined whether the cable trolley has the ability to effectively follow and adjust the coal mining machine under the current operating state, thereby obtaining the followability result.

[0068] In this embodiment, by obtaining the followability result, a basis can be provided for the subsequent selection of the corresponding control object and control method, thereby avoiding the situation where only the cable trolley is adjusted when the cable trolley does not have effective following ability, which would affect the control effect.

[0069] S105. Based on the followability results and the changing trend of the relative position deviation, control the target object so that the first relative position deviation is restored to the preset reasonable deviation range.

[0070] The target object is either the cable-hauling trolley or the cable-hauling trolley and the coal mining machine.

[0071] Based on the followability results and the changing trend of relative position deviation, the corresponding target object can be identified and controlled so that the relative positional relationship between the cable-stayed trolley and the coal mining machine can be gradually restored to a reasonable state.

[0072] In this embodiment, by controlling the target object based on the followability results and the changing trend of the relative position deviation, the targeting and effectiveness of the following control of the cable-stayed trolley and the coal mining machine can be improved, thereby restoring the first relative position deviation to a preset reasonable deviation range.

[0073] This application provides a control method for a coal mining machine power cable dragging system. This method obtains the first position of the cable-dragging trolley and the second position of the coal mining machine at the current moment, and determines the first relative position deviation between the cable-dragging trolley and the coal mining machine at the current moment by combining a preset relative position relationship. This allows the control process to move beyond indirect judgments based solely on speed or tension information, and instead directly focus on the actual relative position deviation between the cable-dragging trolley and the coal mining machine. This more accurately reflects the true following state between the cable-dragging trolley and the coal mining machine. Then, the first relative position deviation at the current moment is compared with the second relative position deviation at the previous moment to determine the trend of the relative position deviation. This not only identifies whether a deviation exists at the current moment but also determines whether the deviation is increasing or decreasing, thereby improving the ability to perceive dynamic changes under complex working conditions. Based on this, this application determines the first relative position deviation if it exceeds a preset reasonable value. When the deviation range is determined, the following is further combined with the operating parameters of the coal mining machine and the cable trolley to obtain the following results of the cable trolley's ability to follow the coal mining machine. This allows it to determine whether the cable trolley has the ability to effectively recover the relative position deviation under the current operating state, avoiding the use of a single control method when the cable trolley is actually difficult to follow effectively, which would lead to adjustment lag or control failure. Finally, this application controls the target object based on the following results and the changing trend of the relative position deviation. The target object can be only the cable trolley, or the cable trolley and the coal mining machine. This achieves targeted adjustment that matches the current following state, restoring the first relative position deviation to a preset reasonable deviation range. Therefore, this application can effectively solve the problems of the existing coal mining machine power cable towing system control, such as the difficulty in accurately maintaining the relative position of the cable trolley and the coal mining machine, insufficient adaptability of following adjustment under complex working conditions, and the difficulty of timely and effective following by the existing control method.

[0074] In one possible embodiment, prior to the method step shown in S102, the method further includes Sa1 to Sa3, which are described in detail below.

[0075] Sa1. Install a contact switch at the tail end of the scraper conveyor and determine the location of the contact switch as the origin of the coordinate system.

[0076] It should be noted that the location of the contact switch serves as the theoretical coordinate origin for subsequently characterizing the positions of the cable-hauling trolley and the coal mining machine, and is used to unify the positional reference benchmarks of the cable-hauling trolley and the coal mining machine.

[0077] Specifically, the contact switch can be set at a predetermined installation position at the tail of the scraper conveyor. When the cable trolley or the coal mining machine runs to the corresponding reference position, the contact switch can be used to trigger the origin, calibrate the origin, or reset the position reference, so that the position calculation of the cable trolley and the coal mining machine can be unified under the same reference coordinate system, avoiding the problem of inaccurate calculation of the subsequent relative position deviation due to inconsistent position reference benchmarks.

[0078] In this embodiment, by determining the location of the contact switch at the tail of the scraper conveyor as the origin of the coordinate system, a unified benchmark can be provided for establishing the relative position coordinate system between the cable trolley and the coal mining machine, thereby providing a basis for subsequently determining the preset relative position relationship and the first relative position deviation.

[0079] Sa2. Using the positions of the cable-hauling trolley and the coal mining machine as position coordinate variables, and combining them with the time variable, a two-dimensional relative position coordinate system between the cable-hauling trolley and the coal mining machine is established.

[0080] It should be noted that the two-dimensional relative position coordinate system is used to characterize the positional relationship between the cable-dragging trolley and the coal mining machine during operation, as well as the corresponding relationship between the two over time.

[0081] In one possible implementation, time *t* can be used as the abscissa variable and displacement *s* as the ordinate variable, and the position change curves of the cable-hauling trolley and the coal mining machine can be plotted separately in the same coordinate system. The position curve of the cable-hauling trolley is used to characterize the change of its displacement relative to the origin over time, and the position curve of the coal mining machine is used to characterize the change of its displacement relative to the origin over time. By uniformly describing the relationship between the positions of the cable-hauling trolley and the coal mining machine over time in the same two-dimensional coordinate system, the relative position changes between the cable-hauling trolley and the coal mining machine can be intuitively understood.

[0082] Furthermore, at the initial moment, the position of the cable-hauling trolley relative to the origin can be set as X1, and the position of the coal mining machine relative to the origin can be set as X2. In this embodiment, the initial moment satisfies X2 = 2X1. That is, in the initial state, the position of the coal mining machine relative to the origin and the position of the cable-hauling trolley relative to the origin satisfy a predetermined proportional relationship. This predetermined proportional relationship reflects the positional correspondence between the cable-hauling trolley and the coal mining machine in the normal initial following state, and can serve as an important basis for subsequently determining the preset relative positional relationship.

[0083] In this embodiment, by establishing a two-dimensional relative position coordinate system, the positional status of the cable-hauling trolley and the coal mining machine can be transformed from a separate absolute positional description into a corresponding relationship description under a unified coordinate system, thereby providing a basis for subsequently determining the preset relative positional relationship between the cable-hauling trolley and the coal mining machine.

[0084] Figure 2 This is a schematic diagram of a two-dimensional relative position coordinate system between a cable-hauling trolley and a coal mining machine, provided as an embodiment of this application. Figure 2 As shown, the horizontal axis represents time t, and the vertical axis represents displacement s. In this two-dimensional relative position coordinate system, the position change curve of the cable trolley is used to characterize the change of the cable trolley's displacement relative to the origin over time, and the position change curve of the coal mining machine is used to characterize the change of the coal mining machine's displacement relative to the origin over time. At the initial moment, the distance between the cable trolley and the origin is x1, and the distance between the coal mining machine and the origin is x2, x2 = 2x1; as time changes from t1 to t8, the positions of both the cable trolley and the coal mining machine change over time, forming corresponding position change trajectories. By uniformly representing the position change relationship of the cable trolley and the coal mining machine in the same coordinate system, the positional correspondence between the cable trolley and the coal mining machine at each moment can be intuitively reflected, thus providing a basis for subsequently determining the preset relative positional relationship.

[0085] Sa3. Determine the preset relative position relationship based on the two-dimensional relative position coordinate system.

[0086] It should be noted that the preset relative position relationship is used to characterize the positional correspondence that the cable-hauling trolley and the coal mining machine should meet under normal following conditions, and serves as a reference for subsequently determining the first relative position deviation.

[0087] Specifically, the positional relationship between the cable-hauling trolley and the coal mining machine at each moment can be determined based on their respective positional change curves in the two-dimensional relative position coordinate system.

[0088] In one possible implementation, the theoretical positional correspondence between the cable-hauling trolley and the coal mining machine under normal following conditions can be determined based on the X2=2X1 relationship satisfied at the initial moment and the positional change law of the cable-hauling trolley and the coal mining machine in the two-dimensional relative position coordinate system, and this theoretical positional correspondence can be used as the preset relative positional relationship.

[0089] In this embodiment, by determining the preset relative position relationship based on the two-dimensional relative position coordinate system, the theoretical position relationship between the cable-stayed trolley and the coal mining machine under normal following conditions can be established in advance. This provides a basis for subsequent judgment on whether there is a relative position deviation between the cable-stayed trolley and the coal mining machine and the magnitude of the relative position deviation, which is beneficial to improving the accuracy of subsequent following state analysis and control adjustment.

[0090] In one possible embodiment, the method steps shown in S102 can be implemented by S1021 to S1023, which are described in detail below.

[0091] S1021. Determine the theoretical relative position of the cable-hauling trolley and the coal mining machine at the current moment based on the preset relative position relationship.

[0092] It should be noted that the theoretical relative position is used to characterize the positional correspondence that the cable-dragging trolley and the coal mining machine should satisfy at the current moment under normal following conditions.

[0093] Specifically, the preset relative positional relationship reflects the positional correspondence between the cable-hauling trolley and the coal mining machine under normal following conditions. Based on the preset relative positional relationship, the theoretically required positional relationship between the cable-hauling trolley and the coal mining machine at the current moment can be determined, and this positional relationship can be used as the theoretical relative position at the current moment.

[0094] In this embodiment, by determining the theoretical relative position at the current moment, a reference benchmark can be provided for comparing the actual positional relationship between the cable-dragging trolley and the coal mining machine at the current moment with the theoretical positional relationship.

[0095] S1022. Based on the first position and the second position, determine the actual relative position of the cable-dragging trolley and the coal mining machine at the current moment.

[0096] The actual relative position is used to characterize the actual positional correspondence between the cable-dragging trolley and the coal mining machine at the current moment.

[0097] Specifically, the actual position difference between the cable-hauling trolley and the coal mining machine at the current moment can be determined based on the first position and the second position, and this actual position difference can be used as the actual relative position at the current moment.

[0098] S1023. Determine the first relative position deviation based on the theoretical relative position and the actual relative position.

[0099] The first relative position deviation is used to characterize the degree of deviation of the actual relative position from the theoretical relative position at the current moment.

[0100] Specifically, the first relative position deviation can be determined based on the difference between the theoretical relative position and the actual relative position.

[0101] In this embodiment, by determining the first relative position deviation, the current following state of the cable-dragging trolley and the coal mining machine can be converted into a quantifiable deviation, thereby providing a basis for determining the subsequent trend of relative position deviation changes.

[0102] In one possible embodiment, after the method steps shown in S102, the method further includes Sc1 and Sc2, which are described in detail below.

[0103] Sc1. Based on the elongation and diameter of the power cable, as well as the results of on-site tests, determine the preset reasonable deviation range.

[0104] The preset reasonable deviation range is used to characterize the range of relative positional deviations allowed when the cable-stayed trolley and the coal mining machine are in normal following state.

[0105] Specifically, power cables exhibit certain elastic elongation characteristics during actual operation. Different specifications of power cables have different diameters, resulting in variations in their stress state, bending state, and allowable deviation range during dragging. Therefore, this study analyzes the relative positional deviation that the cable-dragging trolley and the coal mining machine should maintain under normal following conditions, taking into account the elongation and diameter of the power cable. Simultaneously, based on field test results, the reasonable range of relative positional deviation is calibrated and corrected to ensure that the determined preset reasonable deviation range better meets the operational requirements under actual working conditions.

[0106] In one possible implementation, the reasonable deviation range corresponding to the following state of the cable-dragging trolley and the coal mining machine can be determined based on the stress, bending and elongation of the power cable under normal dragging conditions, combined with the test data obtained during on-site commissioning or trial operation, and this reasonable deviation range can be defined as the preset reasonable deviation range.

[0107] In this embodiment, the preset reasonable deviation range can be expressed as [Xmin, Xmax], where Xmin and Xmax represent the lower limit and upper limit of the relative position deviation allowed between the cable-stayed trolley and the coal mining machine under normal following conditions, respectively.

[0108] When the relative positional deviation between the cable-hauling trolley and the coal mining machine is within the preset reasonable deviation range, it can be considered that the cable-hauling trolley and the coal mining machine are currently in a reasonable following state; however, when the relative positional deviation exceeds the preset reasonable deviation range, it indicates that the positional relationship between the cable-hauling trolley and the coal mining machine has deviated from the normal following state and further adjustment and control are required.

[0109] In this embodiment, by determining a preset reasonable deviation range based on the elongation and diameter of the power cable and the results of on-site tests, the preset reasonable deviation range can better match the actual physical characteristics of the power cable and the on-site operating conditions, thereby improving the accuracy of subsequent relative position deviation judgment and the rationality of control adjustment.

[0110] Sc2. Determine the allowable adjustment range based on the preset reasonable deviation range.

[0111] The allowable adjustment range is the relative position deviation range between the cable trolley and the coal mining machine when they are in an adjustable state.

[0112] The allowable adjustment range is used to characterize the relative position deviation range between the cable-stayed trolley and the coal mining machine when they have deviated from the normal following state but are still in an adjustable state.

[0113] In this embodiment, the allowable adjustment range can be set outside the preset reasonable deviation range. This range characterizes the deviation range within which the control system can still restore the cable-dragging trolley and the coal mining machine to a reasonable state through adjustment actions after the deviation has exceeded the reasonable range.

[0114] In one possible implementation, adjustment margins δ1 and δ2 can be introduced based on a preset reasonable deviation range [Xmin, Xmax], thereby obtaining the allowable adjustment range [Xmin+δ1, Xmax+δ2]. δ1 and δ2 can be set or adjusted according to the on-site calibration conditions.

[0115] A preset reasonable deviation range is used to characterize the deviation interval under normal following conditions, while the allowable adjustment range is used to characterize the interval where the deviation has exceeded the normal range but can still be recovered through control. When the relative position deviation between the cable trolley and the coal mining machine is within the allowable adjustment range, it indicates that there is still a possibility of adjustment recovery; when the relative position deviation further exceeds the allowable adjustment range, it indicates that the current deviation between the cable trolley and the coal mining machine has exceeded the range corresponding to the general adjustment capability, and further processing based on the following performance results is required in subsequent control.

[0116] In this embodiment, by further determining the allowable adjustment range based on the preset reasonable deviation range, the relative position state between the cable-stayed trolley and the coal mining machine can be divided into a reasonable following state and an adjustable state. This provides a basis for subsequent judgment on whether the cable-stayed trolley still has effective following capability and for determining the corresponding control method, which is conducive to improving the pertinence and effectiveness of the following control of the cable-stayed trolley and the coal mining machine.

[0117] In one possible embodiment, the method steps shown in S104 can be implemented by S1041 to S1043, which are described in detail below.

[0118] S1041. Obtain the real-time operating speed and real-time acceleration of the coal mining machine, as well as the real-time operating speed, real-time acceleration, and maximum acceleration of the cable-dragging trolley.

[0119] If the first relative position deviation exceeds the preset reasonable deviation range, in order to further determine whether the cable-stayed trolley has the ability to effectively follow and adjust the coal mining machine under the current operating state, the real-time operating speed and real-time acceleration of the coal mining machine, as well as the real-time operating speed, real-time acceleration and maximum acceleration of the cable-stayed trolley, can also be obtained.

[0120] In this embodiment, the real-time operating speed of the coal mining machine is denoted as V. 1实 The real-time acceleration of the coal mining machine is denoted as a. 1实The displacement of the coal mining machine can be denoted as S1, and the real-time running speed of the cable-stayed trolley can be denoted as V. 2实 The real-time acceleration of the cable-hauling trolley is denoted as a. 2实 The maximum acceleration of the cable-hauling trolley is denoted as a. max The displacement of the cable-hauling trolley can be denoted as S2. The real-time operating speed and real-time acceleration of the coal mining machine are used to characterize the traction operation status of the coal mining machine at the current moment, while the real-time operating speed, real-time acceleration, and maximum acceleration of the cable-hauling trolley are used to characterize the actual operating status of the cable-hauling trolley at the current moment and its maximum adjustable capacity.

[0121] In this embodiment, the current following position deviation between the cable-stayed trolley and the coal mining machine can be expressed as: ΔX = S1 2S2, ΔX represents the current positional deviation between the cable-stayed trolley and the coal mining machine; correspondingly, the previous positional deviation between the cable-stayed trolley and the coal mining machine can be expressed as ΔX. 前 =S 1前 2S 2前 ΔX 前 This characterizes the following position deviation between the cable-stayed trolley and the coal mining machine at the previous moment; the trend of the following deviation between the cable-stayed trolley and the coal mining machine can be expressed as: Δβ = ΔX ΔX 前 Δβ is used to characterize the change in the relative positional deviation between the cable-dragging trolley and the coal mining machine.

[0122] When ΔX < Xmin, it can be determined that the cable-stayed trolley and the coal mining machine are not effectively following each other, and the cable-stayed trolley is following too fast.

[0123] Furthermore, when Xmin+δ1<ΔX<Xmin, it can be determined that the cable-hauling trolley is faster than the coal mining machine, but it is within the allowable adjustable range; when ΔX<Xmin+δ1, it can be determined that the cable-hauling trolley is faster than the coal mining machine and it exceeds the adjustable range.

[0124] When Xmin < ΔX < Xmax, it can be determined that the speed of the cable-stayed trolley and the coal mining machine are matched and within a reasonable range.

[0125] When ΔX>Xmax, it can be determined that the cable-stayed trolley and the coal mining machine are not following effectively, and the cable-stayed trolley is following too slowly.

[0126] Furthermore, when Xmax < ΔX ≤ Xmax + δ2, it can be determined that the cable-hauling trolley is slower than the coal mining machine, but within the allowable adjustable range; when ΔX > Xmax + δ2, it can be determined that the cable-hauling trolley is slower than the coal mining machine and exceeds the adjustable range.

[0127] Furthermore, the current tracking deviation can be analyzed based on Δβ. When Δβ > 0, it indicates that the tracking deviation between the cable trolley and the coal mining machine has increased, and the machine is in the over-tracking adjustment stage; when Δβ < 0, it indicates that the tracking deviation between the cable trolley and the coal mining machine has decreased, and the machine is in the non-tracking adjustment stage; when Δβ = 0 or is close to zero, it indicates that the current relative position deviation remains basically stable.

[0128] In this embodiment, when analyzing the following status of the cable-hauling trolley and the coal mining machine, in addition to considering the current position deviation and its changing trend, the adjustability of the towing control system is further judged by combining the operating parameters of the coal mining machine and the cable-hauling trolley. By obtaining the above operating parameters, a parameter basis can be provided for subsequently determining the theoretically permissible maximum adjustment time and the following performance results.

[0129] S1042. Based on the first relative position deviation, the allowable adjustment range, the real-time operating speed and real-time acceleration of the coal mining machine, and the real-time operating speed, real-time acceleration and maximum acceleration of the cable trolley, determine the theoretically allowable maximum adjustment time.

[0130] The theoretical maximum adjustment time is used to characterize the maximum adjustment time allowed for the cable trolley to restore the first relative position deviation to the allowable range under the current operating conditions.

[0131] In this embodiment, the allowable adjustment range is represented as [Xmin+δ1, Xmax+δ2]. When the current relative position deviation has exceeded the preset reasonable deviation range, the remaining adjustment amount that the cable trolley can still adjust can be determined by combining the current deviation value ΔX and the upper limit of the allowable adjustment range (Xmax+δ2).

[0132] Furthermore, in one possible implementation, the time required for the cable-stayed trolley to accelerate from its current speed to its maximum operating speed can be determined first. , , It represents the maximum permissible operating speed of the cable-dragging trolley.

[0133] Based on this, when At that time, ; when At that time, .

[0134] In other words, the theoretically allowed maximum adjustment time can be used to characterize the maximum theoretically permissible adjustment time for the cable-stayed trolley to adjust the current first relative position deviation to the allowable adjustment range under the current operating conditions. In this way, the adjustability of the cable-stayed trolley can be further transformed into a time condition, thus providing a basis for subsequently determining the followability results.

[0135] S1043. Based on the theoretically allowed maximum adjustment time, the following results of the cable-stayed trolley to the coal mining machine are obtained.

[0136] The followability result is used to indicate whether the cable trolley can follow the coal mining machine, or the followability result is used to indicate whether the cable trolley cannot follow the coal mining machine.

[0137] After determining the theoretically maximum allowable adjustment time, the following performance of the cable-stayed trolley to the coal mining machine can be obtained based on this time. The following performance result characterizes whether the cable-stayed trolley has the ability to effectively follow and adjust the coal mining machine under the current operating conditions.

[0138] Specifically, in this embodiment, the theoretical deviation change between the cable-stayed trolley and the coal mining machine can be further calculated within the theoretically maximum allowable adjustment time t. .

[0139] in, After obtaining Then, it can be compared with the remaining adjustment amount of the current deviation relative to the upper limit of the allowable adjustment range.

[0140] Specifically, when ≤ (X) max When +δ2)-ΔX, it indicates that the control system can complete the adjustment action within the allowable time. At this time, the followability result is used to indicate that the cable trolley can follow the coal mining machine.

[0141] when > (X) max When +δ2) -ΔX, it indicates that under the current operating state of the coal mining machine, the cable trolley cannot complete an effective following adjustment within the allowed time. In this case, the followability result indicates that the cable trolley cannot follow the coal mining machine. In this situation, the system can be brought back to a followable state by subsequently slowing down the coal mining machine.

[0142] In this embodiment, δ1 and δ2, as threshold values ​​for the amount of change, can be adjusted according to the actual calibration conditions. By setting and adjusting the threshold values ​​for the amount of change, the followability results can be made more consistent with the actual operating conditions on site.

[0143] In this embodiment, by obtaining the following results of the cable-stayed trolley to the coal mining machine based on the theoretically allowed maximum adjustment time and the corresponding theoretical deviation change, it is possible to further determine whether the cable-stayed trolley has the ability to effectively recover the deviation when the first relative position deviation exceeds the preset reasonable deviation range, thereby providing a basis for the selection of the control target and the determination of the control method.

[0144] In one possible embodiment, the method steps shown in S1043 can be implemented by Sd1 to Sd4, which are described in detail below.

[0145] Sd1. Based on the theoretically allowed maximum adjustment time, determine the adjustable distance of the cable-stayed trolley within the theoretically allowed maximum adjustment time.

[0146] It should be noted that after obtaining the theoretically maximum allowable adjustment time, the adjustable displacement that the cable-stayed trolley can achieve within that time range can be further determined based on the theoretically maximum allowable adjustment time. The adjustable displacement is the adjustable distance. The adjustable distance is used to characterize the position adjustment capability of the cable-stayed trolley within the theoretically maximum allowable adjustment time under the current operating state.

[0147] Specifically, the adjustable distance can be determined by combining the real-time operating speed, real-time acceleration, and maximum acceleration of the cable-stayed trolley. In other words, under current operating conditions, the displacement change that the cable-stayed trolley can achieve within the theoretically maximum allowable adjustment time can be used as a quantitative result of the cable-stayed trolley's current position adjustment capability. Determining the adjustable distance provides a basis for subsequently judging whether the cable-stayed trolley possesses effective following capability.

[0148] Sd2. Compare the adjustable distance with the remaining allowable adjustment distance relative to the first relative position deviation and the allowable adjustment range.

[0149] The remaining allowable adjustment distance is used to characterize the amount of adjustment that still needs to be made to bring the current first relative position deviation within the allowable adjustment range.

[0150] It should be noted that after determining the adjustable distance corresponding to the theoretically maximum allowable adjustment time of the cable trolley, the adjustable distance can be compared with the remaining allowable adjustment distance of the first relative position deviation relative to the allowable adjustment range.

[0151] Specifically, when the first relative position deviation exceeds the preset reasonable deviation range, the remaining adjustment amount corresponding to the current deviation relative to the allowable adjustment range can be determined by combining the allowable adjustment range. By comparing this remaining adjustment amount with the adjustable distance that the cable trolley can achieve, it can be determined whether the cable trolley has sufficient adjustment capability in the current operating state.

[0152] Sd3. When the adjustable distance is less than or equal to the remaining allowable adjustable distance, the followability result is used to indicate whether the cable trolley can follow the coal mining machine.

[0153] It should be noted that when the adjustable distance is less than or equal to the remaining allowable adjustment distance, it indicates that the cable trolley has the ability to meet the current deviation adjustment requirements within the theoretically maximum allowable adjustment time. Therefore, the followability result can be used to indicate whether the cable trolley can follow the coal mining machine.

[0154] Sd4. When the adjustable distance is greater than the remaining allowable adjustable distance, the followability result is used to indicate that the cable trolley cannot follow the coal mining machine.

[0155] It should be noted that when the adjustable distance is greater than the remaining allowable adjustment distance, it indicates that the cable trolley does not have the ability to meet the current deviation adjustment requirements within the theoretically maximum allowable adjustment time. Therefore, the followability result can be used to indicate that the cable trolley cannot follow the coal mining machine.

[0156] In one possible embodiment, the method steps shown in S105 can be implemented by S1051 to S1053, which are described in detail below.

[0157] S1051. When the followability result is used to indicate that the cable trolley can follow, and the trend of the relative position deviation indicates that the first relative position deviation is increasing, control the cable trolley to run at the maximum acceleration.

[0158] It should be noted that when the followability results are used to indicate that the cable-stayed trolley can follow the coal mining machine, and the trend of the relative position deviation indicates an increase in the first relative position deviation, it means that the relative position deviation between the cable-stayed trolley and the coal mining machine is further widening. In this case, the cable-stayed trolley can be controlled to run at maximum acceleration to accelerate the following adjustment speed of the cable-stayed trolley to the coal mining machine.

[0159] Specifically, an increase in the first relative position deviation indicates that the position of the cable-stayed trolley relative to the coal mining machine is becoming increasingly larger. In other words, the current operating speed of the cable-stayed trolley is lower than the theoretical matching speed relationship between it and the coal mining machine, resulting in insufficient following of the coal mining machine by the cable-stayed trolley. At this time, by controlling the cable-stayed trolley to run at maximum acceleration, the operating speed of the cable-stayed trolley can be increased in a short period of time, thereby quickly reducing the current relative position deviation.

[0160] In one possible implementation, the current position offset that needs to be adjusted can be converted into the running time corresponding to the tow cable trolley running at maximum acceleration, and the tow cable trolley can be controlled to perform accelerated operation based on the running time; by converting the position offset into the corresponding running time, the adjustment process of the tow cable trolley can be made more targeted.

[0161] Furthermore, as the cable-hauling trolley operates at maximum acceleration and gradually recovers the first relative position deviation, the relative position deviation between the cable-hauling trolley and the coal mining machine can be continuously monitored. When the first relative position deviation recovers to a preset reasonable deviation range, the cable-hauling trolley can be controlled to return to normal following operation, thereby achieving the goal of rapid recovery of the relative position between the cable-hauling trolley and the coal mining machine.

[0162] In this embodiment, by controlling the cable-hauling trolley to run at maximum acceleration when it can follow and the first relative position deviation increases, the cable-hauling trolley's ability to catch up with the coal mining machine can be improved, allowing the cable-hauling trolley to recover to a reasonable following state more quickly.

[0163] S1052. When the followability result is used to indicate that the cable trolley can follow, and the trend of the relative position deviation indicates that the first relative position deviation is decreasing, control the cable trolley to stop the main drive operation.

[0164] It should be noted that when the followability result is used to indicate that the cable-stayed trolley can follow the coal mining machine, and the trend of the relative position deviation indicates that the first relative position deviation is decreasing, it means that the current relative position deviation between the cable-stayed trolley and the coal mining machine is developing in the opposite direction. In this case, the cable-stayed trolley can be controlled to stop the main drive to prevent it from continuing to advance.

[0165] Specifically, a decrease in the first relative position deviation indicates that the position of the cable-stayed trolley relative to the coal mining machine is decreasing. In other words, the current operating speed of the cable-stayed trolley is higher than the theoretical matching speed relationship between it and the coal mining machine, resulting in the cable-stayed trolley being in an over-following state relative to the coal mining machine. At this time, by controlling the cable-stayed trolley to stop the main drive, the cable-stayed trolley can be stopped from actively moving forward, and the relative position relationship between the two can be gradually restored to a reasonable state as the coal mining machine continues to operate.

[0166] In one possible implementation, the current position offset that needs to be adjusted can be converted into the downtime corresponding to the trolley stopping the main drive, and the trolley can be controlled to stop the main drive based on the downtime; by converting the position offset into the corresponding downtime, the position correction process of the trolley can be made more accurate.

[0167] Furthermore, after the cable-hauling trolley stops operating from the main drive, the change in the first relative position deviation can be continuously monitored. When the first relative position deviation returns to a preset reasonable deviation range, the cable-hauling trolley can be controlled to return to normal following operation, thereby achieving the purpose of correcting the cable-hauling trolley's leading state.

[0168] It should be noted that once the first relative position deviation returns to within the preset reasonable deviation range, the cable-dragging trolley can be controlled to return to its original operating state.

[0169] In one possible implementation, the original operating state is one where the traction speed of the coal mining machine is twice the speed of the cable-stayed trolley. By restoring the cable-stayed trolley to its original operating state after the first relative position deviation has been recovered to a reasonable range, the cable-stayed trolley and the coal mining machine can re-enter a stable following operation process.

[0170] In this embodiment, by controlling the cable-hauling trolley to stop the main drive when it can follow and the first relative position deviation decreases, the cable-hauling trolley can be prevented from continuing to follow too fast, thereby restoring the relative positional relationship between the cable-hauling trolley and the coal mining machine to a reasonable range.

[0171] S1053. When the followability result indicates that the cable trolley cannot follow, control the coal mining machine to reduce its speed until the cable trolley can follow, and then control the cable trolley to adjust its position.

[0172] It should be noted that when the followability result indicates that the cable-stayed trolley cannot follow the coal mining machine, it means that relying solely on the cable-stayed trolley's own adjustment capabilities is insufficient to achieve effective following under the current operating conditions. In this case, the coal mining machine can be slowed down until the cable-stayed trolley can follow, and then the cable-stayed trolley can be adjusted in position.

[0173] Specifically, the inability of the cable-stayed trolley to follow indicates that, under the current operating speed and acceleration conditions of the coal mining machine, the cable-stayed trolley cannot effectively follow within the allowable adjustment range. Therefore, the operating state of the coal mining machine can be adjusted first, and the operating conditions of the coal mining machine at which the cable-stayed trolley can effectively follow can be calculated and determined. Then, the operating speed of the coal mining machine can be reduced to bring the system into a state where the cable-stayed trolley can follow. After the coal mining machine slows down to this state, the position of the cable-stayed trolley can be adjusted accordingly based on the trend of the relative position deviation.

[0174] Furthermore, by first reducing the speed of the coal mining machine and then adjusting the position of the cable-stayed trolley, it is possible to avoid forcibly maintaining the original operating conditions when the cable-stayed trolley's adjustment capacity is insufficient, which would lead to follow-up failure. This allows the relative positional relationship between the cable-stayed trolley and the coal mining machine to be gradually restored to a reasonable range.

[0175] In this embodiment, by first controlling the coal mining machine to slow down when the cable-stayed trolley cannot follow, and then controlling the cable-stayed trolley to adjust its position, the effectiveness of the cable-stayed trolley and coal mining machine following control under complex working conditions can be improved, thereby avoiding machine downtime due to failure to follow.

[0176] In one possible implementation, when the relative positional deviation between the cable-dragging trolley and the coal mining machine exceeds the allowable adjustment range, and the cable-dragging trolley cannot restore itself to a reasonable state under the current operating conditions, a fault alarm message can be output to indicate that the current following state is abnormal. By setting a fault alarm mechanism, the operational safety of the coal mining machine's power cable dragging system under abnormal operating conditions can be improved.

[0177] In one possible implementation, after controlling the target object, the first position of the cable-stayed trolley and the second position of the coal mining machine at the next moment can be acquired, and the first relative position deviation, the trend of the relative position deviation, and the followability of the cable-stayed trolley to the coal mining machine can be re-determined, thereby controlling the target object again. That is, this embodiment uses the relative position deviation between the cable-stayed trolley and the coal mining machine as a feedback quantity. By continuously acquiring positions, judging deviations, and controlling the target object, a closed-loop adjustment process is formed to keep the relative positional relationship between the cable-stayed trolley and the coal mining machine in a reasonable state.

[0178] In one possible embodiment, after the method steps shown in S105, the method further includes Se1 and Se2, which are described in detail below.

[0179] Se1. During the start-up or reversing phase of the cable-hauling trolley, control the cable-hauling trolley to run ahead of the coal mining machine in the corresponding running direction for a preset time to eliminate the influence of elastic deformation of the chain drive.

[0180] It should be noted that during the start-up or reversing phases of the cable-hauling trolley, because the trolley uses chain drive, the chain drive system undergoes a transition from an elastic to a rigid body in the initial stage of start-up or reversing, resulting in some elastic deformation of the chain. This elastic deformation of the chain drive affects the actual following effect between the cable-hauling trolley and the coal mining machine, causing a deviation between the actual response of the cable-hauling trolley and the theoretical control commands in the initial control phase. Therefore, during the start-up or reversing phases of the cable-hauling trolley, the trolley can be controlled to run ahead of the coal mining machine in the corresponding direction for a preset time to preemptively eliminate the influence of the elastic deformation of the chain drive.

[0181] Specifically, when the coal mining machine is about to start or change direction, the target running direction of the coal mining machine can be determined first, and the cable trolley can be controlled to move in advance along the target running direction. The preset duration can be understood as the duration of the cable trolley's advance action. Within this preset duration, the chain drive system of the cable trolley gradually transitions from the initial elastic stress state to a stable rigid stress state, thereby releasing and compensating for the slack, elastic tension, or initial transmission gap in the chain.

[0182] Before the cable-hauling trolley officially begins following the coal mining machine, the chain drive system is pre-tensioned and pre-adjusted through advance actions to reduce the impact of chain elastic deformation on subsequent following control. This method avoids situations where the actual movement of the cable-hauling trolley lags, following control is untimely, or relative position deviation increases instantaneously due to elastic deformation of the chain during startup or reversal phases.

[0183] The preset duration can be set based on the structural parameters of the chain drive system, chain length, operating conditions, and on-site commissioning results. In other words, as long as the influence of elastic deformation of the chain drive system is effectively eliminated or weakened before the cable trolley officially enters the following control phase, it can be used as the preset duration in this application.

[0184] The preset duration is the time required for the cable-dragging trolley to complete one revolution along the pre-running direction of the coal mining machine.

[0185] In this embodiment, by controlling the cable trolley to run ahead of the coal mining machine in the corresponding running direction for a preset time during the start-up or reversing phase, the influence of elastic deformation of the chain drive can be eliminated before the follow-up control begins, thereby providing a foundation for establishing a more accurate and stable follow-up relationship between the cable trolley and the coal mining machine.

[0186] Se2. After the preset time expires, control the cable trolley to enter the following control state corresponding to the coal mining machine.

[0187] It should be noted that after the preset time expires, it indicates that the effect of elastic deformation in the cable trolley chain drive system has been eliminated or weakened. At this point, the cable trolley can be controlled to enter the following control state corresponding to the coal mining machine. The following control state is used to characterize the cable trolley starting to perform subsequent following adjustment control according to the operating state of the coal mining machine.

[0188] Specifically, in this embodiment, after the cable-hauling trolley completes its pre-running within a preset time period, it can further send a standby signal or a ready signal to the coal mining machine to indicate that the cable-hauling trolley has met the conditions for entering formal follow-up control. Subsequently, the cable-hauling trolley can enter the corresponding follow-up control process based on the actual operating status of the coal mining machine, the relative position deviation, the trend of the relative position deviation change, and the followability results.

[0189] In other words, after preprocessing the effects of chain drive elastic deformation, the cable trolley enters the formal following control stage that matches the coal mining machine. By separating the chain elastic deformation elimination stage and the formal following control stage, the cable trolley can have a more stable mechanical transmission foundation when entering following control, thereby improving the accuracy of subsequent following control.

[0190] In this embodiment, the following control state corresponding to the coal mining machine can be the state in which the cable-stayed trolley executes the corresponding control strategy according to the current running direction, running speed, acceleration, and relative position deviation of the coal mining machine. That is to say, after entering the following control state, the cable-stayed trolley no longer just performs pre-running, but begins to participate in subsequent normal following adjustment control.

[0191] In this embodiment, by controlling the cable trolley to enter the following control state corresponding to the coal mining machine after the preset time period ends, the cable trolley can participate in the formal following control after the influence of elastic deformation of the chain drive is eliminated, thereby improving the following control effect between the cable trolley and the coal mining machine in the start-up or reversing phase.

[0192] In one possible implementation, after the preset time period, a standby signal or a ready signal can be sent to the coal mining machine to indicate that the cable trolley has completed the preprocessing of the influence of elastic deformation of the chain drive and is ready to enter formal follow-up control. Subsequently, the cable trolley enters the follow-up control state corresponding to the coal mining machine.

[0193] This application achieves real-time monitoring and calibration of the relative positions of the cable-hauling trolley and the coal mining machine by installing encoders in the cable-hauling trolley drive unit and the coal mining machine traction drive unit, respectively. The position information of the cable-hauling trolley and the coal mining machine is then connected to the coal mining machine power cable traction system controller. By uniformly acquiring and processing the positional relationship between the two, an accurate data foundation can be provided for subsequent determination of relative position deviation and follow-up control, improving the accuracy of judging the positional relationship between the cable-hauling trolley and the coal mining machine.

[0194] This application collects the displacement difference between the cable-hauling trolley and the coal mining machine in real time, compares this displacement difference with the displacement difference range under reasonable following conditions, and analyzes the dynamic positional relationship between the cable-hauling trolley and the coal mining machine by combining the changing trend of the displacement difference. This allows for a comprehensive determination of whether the cable-hauling trolley is currently in a normal following state, following too fast, following too slow, or in the process of adjustment. This method can more accurately reflect the actual dynamic changes between the cable-hauling trolley and the coal mining machine, improving the accuracy of judging the following state.

[0195] This application implements following control for the cable-hauling trolley based on the trend of position deviation changes and followability assessment. When the cable-hauling trolley is in a followable state, the variable frequency motor of the cable-hauling trolley drive unit is controlled to run at maximum acceleration or to stop for adjustment, thereby enabling the relative position between the cable-hauling trolley and the coal mining machine to quickly recover to the ideal following range. By combining the trend of position deviation changes with followability assessment, the targeting and control efficiency of the cable-hauling trolley's position adjustment can be improved.

[0196] This application addresses the issue of elastic deformation in the power cable towing system of a coal mining machine. First, during adjustment, the cable trolley is pre-running in the intended direction of the coal mining machine to eliminate the influence of elastic deformation in the cable chain drive system. Then, the displacement difference between the cable trolley and the coal mining machine is collected in real time. Based on the calculation and analysis results, the required acceleration or shutdown time for the cable trolley is determined. This time is used as the target for the cable trolley's follow-up adjustment. Combined with real-time feedback of position information, a closed-loop control is formed, enabling precise following adjustment of the cable trolley. This integrated control strategy improves the control stability and following reliability of the coal mining machine's power cable towing system under complex operating conditions.

[0197] Figure 3 This is a schematic diagram of the structure of a control device for a coal mining machine power cable dragging system, provided as an embodiment of this application. Figure 3 As shown, the drag system control device 300 includes a position acquisition module 301, a deviation determination module 302, a trend determination module 303, a result acquisition module 304, and a control module 305.

[0198] The position acquisition module 301 is used to acquire the first position of the cable-dragging trolley and the second position of the coal mining machine at the current moment.

[0199] The deviation determination module 302 is used to determine the first relative position deviation between the cable-hauling trolley and the coal mining machine at the current moment based on the preset relative position relationship, the first position and the second position.

[0200] The trend determination module 303 is used to determine the trend of the relative position deviation based on the first relative position deviation and the second relative position deviation; wherein, the second relative position deviation is the relative position deviation between the cable trolley and the coal mining machine at the previous moment.

[0201] The result acquisition module 304 is used to obtain the following result of the cable trolley to the coal mining machine based on the operating parameters of the coal mining machine and the operating parameters of the cable trolley when the first relative position deviation exceeds the preset reasonable deviation range.

[0202] The control module 305 is used to control the target object based on the followability result and the changing trend of the relative position deviation, so as to restore the first relative position deviation to a preset reasonable deviation range; wherein the target object is a cable trolley, or the target object is a cable trolley and a coal mining machine.

[0203] It should be noted that the specific process of each module in the control system executing the above method has been described in detail in the above embodiments, and this embodiment does not make specific limitations on it.

[0204] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4As shown, the electronic device 400 provided in this embodiment includes a memory 401 and a processor 402.

[0205] The memory 401 can be a separate physical unit, connected to the processor 402 via a bus 403. Alternatively, the memory 401 and processor 402 can be integrated and implemented in hardware. The memory 401 stores program instructions, which the processor 402 calls to execute operations controlled by the system in any of the above method embodiments.

[0206] Optionally, when some or all of the methods in the above embodiments are implemented by software, the electronic device 400 may also include only the processor 402. A memory 401 for storing programs is located outside the electronic device 400, and the processor 402 is connected to the memory via circuits / wires to read and execute the programs stored in the memory. The processor 402 may be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and an NP. The processor 402 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0207] Memory 401 may include volatile memory, such as random-access memory (RAM); memory may also include non-volatile memory, such as flash memory, hard disk drive (HDD) or solid-state drive (SSD); memory may also include combinations of the above types of memory.

[0208] For example, this application provides a computer-readable storage medium having computer program instructions stored thereon, which are executed by the processor of an electronic device to cause the electronic device to perform the operations performed by the electronic device in the above method embodiments.

[0209] For example, this application provides a computer program product that, when run on an electronic device, causes the electronic device to perform the operations performed by the electronic device in the above method embodiments.

[0210] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a coal mining machine power cable dragging system, characterized in that, The method includes: Obtain the first position of the cable-dragging trolley and the second position of the coal mining machine at the current moment; Based on the preset relative position relationship, the first position, and the second position, the first relative position deviation between the cable-dragging trolley and the coal mining machine at the current moment is determined; The trend of relative position deviation is determined based on the first relative position deviation and the second relative position deviation; wherein, the second relative position deviation is the relative position deviation between the cable-stayed trolley and the coal mining machine at the previous moment. When the first relative position deviation exceeds the preset reasonable deviation range, the following result of the following ability of the towing cable trolley to follow the coal mining machine is obtained based on the operating parameters of the coal mining machine and the operating parameters of the towing cable trolley. Based on the followability results and the changing trend of the relative position deviation, the target object is controlled so that the first relative position deviation is restored to the preset reasonable deviation range; the target object is the cable trolley, or the target object is the cable trolley and the coal mining machine.

2. The method according to claim 1, characterized in that, Before determining the first relative position deviation between the cable-stayed trolley and the coal mining machine at the current moment based on the preset relative position relationship, the first position, and the second position, the method further includes: A contact switch is installed at the tail end of the scraper conveyor, and the location of the contact switch is determined as the origin of the coordinate system. Using the positions of the cable-hauling trolley and the coal mining machine as position coordinate variables, and combining them with the time variable, a two-dimensional relative position coordinate system between the cable-hauling trolley and the coal mining machine is established. The preset relative position relationship is determined based on the two-dimensional relative position coordinate system.

3. The method according to claim 1, characterized in that, The process of obtaining the first position of the cable-hauling trolley and the second position of the coal mining machine at the current moment includes: The running position information of the cable-hauling trolley is obtained by a first encoder, which is installed in the drive unit of the cable-hauling trolley. The first position is determined based on the running position information corresponding to the cable-dragging trolley; The operating position information of the coal mining machine is obtained by a second encoder, which is installed in the traction drive unit of the coal mining machine. The second position is determined based on the operating position information corresponding to the coal mining machine.

4. The method according to claim 1, characterized in that, The step of determining the first relative position deviation between the cable-stayed trolley and the coal mining machine at the current moment based on the preset relative position relationship, the first position, and the second position includes: Based on the preset relative position relationship, the theoretical relative position of the cable-dragging trolley and the coal mining machine at the current moment is determined; Based on the first position and the second position, determine the actual relative position of the cable-dragging trolley and the coal mining machine at the current moment; The first relative position deviation is determined based on the theoretical relative position and the actual relative position.

5. The method according to claim 1, characterized in that, After determining the first relative position deviation between the cable-hauling trolley and the coal mining machine at the current moment based on the preset relative position relationship, the first position, and the second position, the method further includes: Based on the elongation and diameter of the power cable, as well as the results of field tests, the preset reasonable deviation range is determined; Based on the preset reasonable deviation range, the allowable adjustment range is determined; wherein, the allowable adjustment range is the relative position deviation range between the cable-stayed trolley and the coal mining machine when they are in an adjustable state.

6. The method according to claim 5, characterized in that, When the first relative position deviation exceeds a preset reasonable deviation range, based on the operating parameters of the coal mining machine and the operating parameters of the cable-stayed trolley, the following results on the cable-stayed trolley's ability to follow the coal mining machine are obtained, including: The real-time operating speed and real-time acceleration of the coal mining machine, as well as the real-time operating speed, real-time acceleration, and maximum acceleration of the cable-dragging trolley, are obtained. Based on the first relative position deviation, the allowable adjustment range, the real-time operating speed and real-time acceleration of the coal mining machine, and the real-time operating speed, real-time acceleration and maximum acceleration of the cable-dragging trolley, the theoretical maximum allowable adjustment time is determined. Based on the maximum allowable adjustment time in the theory, the followability result of the cable-stayed trolley to the coal mining machine is obtained; wherein, the followability result is used to indicate that the cable-stayed trolley can follow the coal mining machine, or the followability result is used to indicate that the cable-stayed trolley cannot follow the coal mining machine.

7. The method according to claim 6, characterized in that, The process of obtaining the following results of the cable-stayed trolley to the coal mining machine based on the maximum allowable adjustment time according to the theory includes: Based on the theoretically allowed maximum adjustment time, the adjustable distance of the cable-dragging trolley corresponding to the theoretically allowed maximum adjustment time is determined; The adjustable distance is compared with the remaining allowable adjustment distance of the first relative position deviation relative to the allowable adjustment range; When the adjustable distance is less than or equal to the remaining allowable adjustable distance, the followability result is used to indicate that the cable-stayed trolley can follow the coal mining machine; When the adjustable distance is greater than the remaining allowable adjustable distance, the followability result is used to indicate that the cable-stayed trolley cannot follow the coal mining machine.

8. The method according to claim 6, characterized in that, The control of the target object based on the followability result and the changing trend of the relative position deviation includes: When the followability result is used to indicate that the cable trolley can follow, and the trend of the relative position deviation indicates that the first relative position deviation is increasing, the cable trolley is controlled to run at maximum acceleration. When the followability result indicates that the cable trolley can follow, and the trend of the relative position deviation indicates that the first relative position deviation is decreasing, the cable trolley is controlled to stop the main drive operation. When the followability result indicates that the cable trolley cannot follow, the coal mining machine is controlled to slow down until the cable trolley can follow, and then the cable trolley is controlled to adjust its position.

9. The method according to claim 1, characterized in that, Before controlling the target object based on the followability results and the changing trend of the relative positional deviation, the method further includes: During the start-up or reversing phase of the cable-hauling trolley, the cable-hauling trolley is controlled to run ahead of the coal mining machine in the corresponding running direction for a preset time to eliminate the influence of elastic deformation of the chain drive. After the preset time period ends, the cable-hauling trolley is controlled to enter the following control state corresponding to the coal mining machine.

10. A control device for a coal mining machine power cable dragging system, characterized in that, The device includes: The position acquisition module is used to obtain the first position of the cable-dragging trolley and the second position of the coal mining machine at the current moment; The deviation determination module is used to determine the first relative position deviation between the cable-dragging trolley and the coal mining machine at the current moment based on the preset relative position relationship, the first position, and the second position; The trend determination module is used to determine the trend of the relative position deviation based on the first relative position deviation and the second relative position deviation; wherein, the second relative position deviation is the relative position deviation between the cable-stayed trolley and the coal mining machine at the previous moment; The result acquisition module is used to obtain the following result of the cable trolley to the coal mining machine based on the operating parameters of the coal mining machine and the operating parameters of the cable trolley when the first relative position deviation exceeds the preset reasonable deviation range. The control module is used to control the target object based on the followability result and the changing trend of the relative position deviation, so as to restore the first relative position deviation to the preset reasonable deviation range; wherein the target object is the cable trolley, or the target object is the cable trolley and the coal mining machine.

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