A semi-physical simulation test system for coal mining machine controller and its use method

Abstract

The present invention discloses a semi-physical simulation test system for a coal mining machine controller, the test system includes a coal mining machine controller and a Simpole real-time simulation platform, a simulation model for data interaction with the coal mining machine controller is run in the Simpole real-time simulation platform, the coal mining machine controller controls the running state of the coal mining machine and sets the control algorithm, and the simulation model is used to simulate the working environment and working state of the coal mining machine. The present invention uses a real coal mining machine controller to conduct tests, so that the dynamic and static characteristics and nonlinear factors of the controller can be truly reflected, and it is close to the real test, and the controller control scheme semi-physical simulation test is realized. At the same time, the mining effect of different coal mining machine cutting path planning algorithms can be evaluated, thereby providing the best control scheme for the coal mining machine automatic control system.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent coal mining, and in particular to a semi-physical simulation test system for a coal mining machine controller and a use method thereof. Background Art

[0002] The automatic control system of coal mining machine is an important basic technology for intelligent coal mining. The automatic control system of coal mining machine refers to the automatic control of the driving speed and drum height of the coal mining machine by the coal mining machine controller according to the coal mining machine cutting path planning algorithm based on the coal seam geographic information system and the received sensor signal, so that the coal mining machine cuts the coal seam along the working face direction according to the planned cutting path, so as to maximize the mining of coal resources. In order to evaluate the mining effect of the cutting path planning algorithm based on the coal seam geographic information system, it is necessary to test the automatic control system of coal mining machine. It is difficult to simulate the influence of the field environment, such as electromagnetic interference and communication delay on the controller, by conducting pure computer simulation test; and the full physical test faces the problems of heavy weight and high price of coal mining machine equipment and difficult preparation of underground coal wall, so it is difficult to conduct full physical evaluation and verification of the automatic control system of coal mining machine on the ground. Conducting test evaluations on-site underground will delay production tasks and cause economic losses. In addition, during the test process, the coal mining machine may malfunction or even be damaged due to an unreasonable control scheme, which will not only delay production but also extend the development cycle. Moreover, the underground coal seam cannot be recovered after mining, and repeatable tests of the automatic control system cannot be carried out.

[0003] The development of semi-physical simulation technology has provided a new way to solve the above problems. Semi-physical simulation is a technology that connects the physical controller with the simulation model of the control object implemented on the computer for testing. In this test, the dynamic characteristics of the control entity are run on the real-time simulation server by building a model. The controller uses an actual controller, so that the dynamic and static characteristics and nonlinear factors of the controller can be truly reflected, which is close to the real test. In addition, this test method avoids the risk of damaging the equipment, reduces the test cost, and can also verify the control scheme repeatedly, making the results more reliable. Summary of the invention

[0004] Purpose of the invention: In view of the difficulty in simulating real environmental interference and the complexity of conducting full physical or coal mine field tests as well as the problem of non-repeatability of coal seam cutting in pure computer simulation test evaluation of coal mining machine automatic control systems, the present invention proposes a semi-physical simulation test system for coal mining machine controllers and a method of use.

[0005] Technical solution: To achieve the purpose of the present invention, the technical solution adopted by the present invention is:

[0006] A semi-physical simulation test system for a coal mining machine controller, the test system comprising a coal mining machine controller and a Simpole real-time simulation platform, a simulation model for data interaction with the coal mining machine controller running in the Simpole real-time simulation platform, the coal mining machine controller controlling the running state of the coal mining machine and setting a control algorithm, the simulation model for simulating the working environment and working state of the coal mining machine;

[0007] The simulation model includes a coal-rock environment model, a coal mining machine motion simulation model, a sensor error model, a coal mining machine cutting drum mining height calculation model and a coal seam three-dimensional digital geological model. The coal-rock environment model includes a rock brittleness index calculation model and a coal seam height model. The rock brittleness index calculation model is used to obtain the brittleness value of coal rocks, and the coal seam height model is used to obtain the height value of the coal seam.

[0008] The shearer motion simulation model includes a shearer left cutting part model and a shearer right cutting part model, which travel at a constant speed according to the speed command issued by the shearer controller;

[0009] The sensor error model is used to obtain and output the measurement value of the magnetostrictive displacement sensor;

[0010] The shearer cutting drum mining height calculation model is used to obtain the shearer drum mining height measurement value and send the measurement value to the shearer controller;

[0011] The three-dimensional digital geological model of the coal seam is used to obtain the amount of cut gangue and the amount of missed mining according to a preset control algorithm.

[0012] Further, the Simpole real-time simulation platform includes a computer and a real-time simulation server, on which a CAN communication board, an A / D converter and a D / A converter are installed, and the computer is used to establish a coal-rock environment model, a coal mining machine motion simulation model, a sensor error model, a coal mining machine cutting drum mining height calculation model and a coal seam three-dimensional digital geological model, and send the established coal-rock environment model, coal mining machine motion simulation model, sensor error model, coal mining machine cutting drum mining height calculation model and coal seam three-dimensional digital geological model to the real-time simulation server;

[0013] The real-time simulation server is used to run the coal-rock environment model, coal mining machine motion simulation model, sensor error model, coal mining machine cutting drum mining height calculation model and coal seam three-dimensional digital geological model compiled and downloaded by the computer, and communicates with the coal mining machine controller through the CAN communication board, A / D converter and D / A converter.

[0014] Furthermore, the coal mining machine controller is provided with a coal mining machine cutting path planning algorithm based on the coal seam geographic information system.

[0015] Furthermore, the coal mining machine left cutting part model includes a coal mining machine left drum cutting coal and rock load calculation model, a coal mining machine left cutting part rocker arm height adjustment hydraulic cylinder piston rod load calculation model and a coal mining machine left cutting part rocker arm height adjustment hydraulic system model. The coal mining machine left drum cutting coal and rock load calculation model is used to obtain the cutting direction load and the traction direction load on the coal mining machine left drum.

[0016] The load calculation model of the piston rod of the hydraulic cylinder for raising the rocker arm of the left cutting part of the coal mining machine is used to obtain the load value on the piston rod of the hydraulic cylinder for raising the rocker arm of the left cutting part of the coal mining machine;

[0017] The hydraulic system model of the left cutting section rocker arm height adjustment of the coal mining machine is used to obtain the displacement simulation value and the piston rod speed simulation value of the piston rod of the left cutting section rocker arm height adjustment hydraulic cylinder, and at the same time, solve the load simulation value on the piston rod of the left cutting section rocker arm height adjustment hydraulic cylinder according to the displacement simulation value and the speed simulation value;

[0018] The right cutting part model of the coal mining machine includes a coal mining machine right drum cutting coal and rock load calculation model, a coal mining machine right cutting part rocker arm height adjustment hydraulic cylinder piston rod load calculation model and a coal mining machine right cutting part rocker arm height adjustment hydraulic system model. The coal mining machine right drum cutting coal and rock load calculation model is used to obtain the cutting direction load and the traction direction load on the coal mining machine right drum;

[0019] The load calculation model of the piston rod of the hydraulic cylinder for raising the rocker arm of the right cutting part of the coal mining machine is used to obtain the load value on the piston rod of the hydraulic cylinder for raising the rocker arm of the right cutting part of the coal mining machine;

[0020] The coal mining machine right cutting part rocker arm height adjustment hydraulic system model is used to obtain the displacement simulation value and piston rod speed simulation value of the right cutting part rocker arm height adjustment hydraulic cylinder piston rod, and at the same time solve the load simulation value on the right cutting part rocker arm height adjustment hydraulic cylinder piston rod based on the displacement simulation value and speed simulation value.

[0021] A method for using a semi-physical simulation test system for a coal mining machine controller, the method specifically comprising the following steps:

[0022] S1: In the Simpole real-time simulation platform, a coal-rock environment model, a coal mining machine motion simulation model, a sensor error model, a coal mining machine cutting drum mining height calculation model and a coal seam three-dimensional digital geological model are established by the computer, and the real-time simulation server compiles and downloads the established coal-rock environment model, coal mining machine motion simulation model, sensor error model, coal mining machine cutting drum mining height calculation model and coal seam three-dimensional digital geological model, and runs them in the real-time simulation server at the same time;

[0023] S2: downloading different coal mining machine cutting path planning algorithms based on the coal seam geographic information system to the coal mining machine controller respectively, and the coal mining machine controller calculates the gangue cutting amount and missed mining amount corresponding to each coal mining machine cutting path planning algorithm based on the different coal seam geographic information system according to the different coal mining machine cutting path planning algorithms based on the coal seam geographic information system and the simulation model running in the Simpole real-time simulation platform;

[0024] S3: Compare the gangue cutting amount and missed mining amount corresponding to each coal mining machine cutting path planning algorithm based on the coal seam geographic information system, and determine the optimal coal mining machine cutting path planning algorithm based on the coal seam geographic information system.

[0025] Furthermore, in step S2, the amount of gangue cut and the amount of missed mining corresponding to each coal mining machine cutting path planning algorithm based on the coal seam geographic information system are calculated, as follows:

[0026] S2.1: downloading the coal mining machine cutting path planning algorithm based on the coal seam geographic information system to the coal mining machine controller;

[0027] S2.2: The shearer controller sends the shearer travel speed and the shearer drum mining height control target value signal to the simulation model running in the Simpole real-time simulation server through the CAN communication board and the A / D converter. At the same time, the shearer drum mining height control target value signal is solved by the shearer cutting drum mining height calculation model to the shearer cutting part rocker arm height adjustment hydraulic cylinder piston rod displacement target value signal;

[0028] S2.3: The shearer motion simulation model outputs a displacement simulation value of a piston rod of a shearer cutting part rocker arm height adjustment hydraulic cylinder according to the shearer travel speed, a displacement target value signal of a piston rod of a shearer cutting part rocker arm height adjustment hydraulic cylinder and an input parameter value of a coal-rock environment model;

[0029] S2.4: The sensor error model uses the displacement simulation value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal mining machine cutting part as the output value under the ideal state, and outputs the displacement measurement value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal mining machine cutting part. The displacement measurement value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal mining machine cutting part is solved into the coal mining machine drum mining height measurement value through the coal mining machine cutting drum mining height calculation model;

[0030] S2.5: The shearer drum height measurement value and the shearer travel speed are transmitted to the computer via Ethernet, and the shearer drum height measurement value and the shearer travel speed are transmitted to the shearer controller via the CAN communication board and the D / A converter for operation feedback, and the shearer controller issues a control instruction according to the feedback result and the shearer cutting path planning algorithm based on the coal seam geographic information system;

[0031] S2.6: The computer obtains the cutting trajectory data of the coal mining machine according to the control instructions of the coal mining machine controller, combines the cutting trajectory data of the coal mining machine with the three-dimensional digital geological model of the coal seam, and obtains the cutting amount and missed mining amount corresponding to the coal mining machine cutting path planning algorithm based on the coal seam geographic information system.

[0032] Further, the displacement value signal of the piston rod of the rocker arm height adjustment hydraulic cylinder of the cutting part of the coal mining machine includes the displacement value signal of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left cutting part of the coal mining machine and the displacement value signal of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right cutting part of the coal mining machine;

[0033] The displacement simulation value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal mining machine cutting part includes the displacement simulation value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left coal mining machine cutting part and the displacement simulation value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right coal mining machine cutting part;

[0034] The displacement measurement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal shearer cutting part include the displacement measurement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left cutting part of the coal shearer and the displacement measurement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right cutting part of the coal shearer.

[0035] Furthermore, the displacement measurement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left cutting part of the coal mining machine and the displacement measurement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right cutting part of the coal mining machine can be solved into the coal mining machine drum height measurement values ​​through the coal mining machine cutting drum height calculation model;

[0036] The shearer drum mining height target value can be calculated through the shearer cutting drum mining height calculation model into the shearer left cutting part rocker arm height adjustment hydraulic cylinder piston rod displacement target value and the shearer right cutting part rocker arm height adjustment hydraulic cylinder piston rod displacement target value.

[0037] Furthermore, in step S3, the optimal coal mining machine cutting path planning algorithm based on the coal seam geographic information system is determined, specifically:

[0038] Compare the gangue cutting amount and missed mining amount corresponding to each coal mining machine cutting path planning algorithm based on the coal seam geographic information system to determine the minimum gangue cutting amount and the minimum missed mining amount;

[0039] When the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum gangue cutting amount and the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum missed mining amount are the same coal mining machine cutting path planning algorithm based on the coal seam geographic information system, the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum gangue cutting amount and the minimum missed mining amount is the optimal coal mining machine cutting path planning algorithm based on the coal seam geographic information system;

[0040] When the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum cutting amount and the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum missed mining amount are different types of coal mining machine cutting path planning algorithms based on the coal seam geographic information system, the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum missed mining amount is the optimal coal mining machine cutting path planning algorithm based on the coal seam geographic information system.

[0041] Beneficial effects: Compared with the prior art, the technical solution of the present invention has the following beneficial technical effects:

[0042] The present invention uses a real coal mining machine controller for testing, so that the dynamic and static characteristics and nonlinear factors of the controller can be truly reflected and close to the real test. While realizing the semi-physical simulation test of the controller control scheme, the mining effect of different coal mining machine cutting path planning algorithms can also be evaluated, thereby providing the best control scheme for the coal mining machine automatic control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the composition framework of the semi-physical simulation test system of the coal mining machine controller of the present invention;

[0044] Figure 2 It is a data transmission principle diagram of each simulation model of the semi-physical simulation test system of the coal mining machine controller of the present invention;

[0045] Figure 3 It is a flow chart of the method of using the semi-physical simulation test system of the coal mining machine controller of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Among them, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but only represents selected embodiments of the present invention.

[0047] Example 1

[0048] refer to Figure 1 This embodiment provides a semi-physical simulation test system for a coal mining machine controller, and the test system includes a physical part and a simulation part, wherein the physical part is a coal mining machine controller, and the simulation part is a Simpole real-time simulation platform, and a simulation model for data interaction with the coal mining machine controller is running in the Simpole real-time simulation platform. The coal mining machine controller controls the operating state of the coal mining machine, and the simulation model running in the Simpole real-time simulation platform is used to simulate the working environment and working state of the coal mining machine. It is worth noting that a control algorithm can be pre-set in the coal mining machine controller, and the control algorithm includes a coal mining machine cutting path planning algorithm based on a coal seam geographic information system.

[0049] In this embodiment, the Simpole real-time simulation platform includes a computer and a real-time simulation server, wherein the computer is used to establish a coal-rock environment model, a coal mining machine motion simulation model, a sensor error model, a coal mining machine cutting drum mining height calculation model, and a coal seam three-dimensional digital geological model, and the established coal-rock environment model, coal mining machine motion simulation model, sensor error model, coal mining machine cutting drum mining height calculation model, and coal seam three-dimensional digital geological model are sent to the real-time simulation server. Specifically, the computer is installed with AMESim software and Matlab / simulink software for establishing simulation models, and is also installed with Simpoleview software for monitoring and management of simulation data, and is installed with simulink plug-ins and SimppoleRT software for compiling and downloading simulation models.

[0050] The real-time simulation server is installed with a CAN communication board, an A / D converter and a D / A converter. The real-time simulation server is used to run the coal-rock environment model, the coal mining machine motion simulation model, the sensor error model, the coal mining machine cutting drum mining height calculation model and the coal seam three-dimensional digital geological model compiled and downloaded by the computer, and communicates with the coal mining machine controller through the CAN communication board, the A / D converter and the D / A converter.

[0051] refer to Figure 2 The coal rock environment model includes a rock brittleness index calculation model and a coal seam height model, wherein the rock brittleness index calculation model is used to obtain the brittleness value B of the coal rock, and the coal seam height model is used to obtain the coal seam height value h.

[0052] The coal mining machine motion simulation model includes a left cutting part model and a right cutting part model of the coal mining machine that travel at a constant speed according to the speed command value given by the coal mining machine controller. Since the coal mining machine runs slowly and the frequency converter has sensitive speed regulation, in this embodiment, the coal mining machine motion model is equivalent to a combination of the left cutting part model and the right cutting part model of the coal mining machine that travel at a constant speed.

[0053] The left cutting part model of the coal mining machine includes the coal cutting load calculation model of the left drum of the coal mining machine, the load calculation model of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left cutting part of the coal mining machine, and the rocker arm height adjustment hydraulic system model of the left cutting part of the coal mining machine. The right cutting part model of the coal mining machine includes the coal cutting load calculation model of the right drum of the coal mining machine, the load calculation model of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right cutting part of the coal mining machine, and the rocker arm height adjustment hydraulic system model of the right cutting part of the coal mining machine. Since the left cutting part model of the coal mining machine is symmetrical with the right cutting part model, Figure 2 In the description, any one side of the model is taken as an example, and the other side of the model is not repeated.

[0054] The coal-rock cutting load calculation model of the left drum of the coal mining machine is used to obtain the cutting direction load and the traction direction load on the left drum of the coal mining machine. The coal-rock cutting load calculation model of the right drum of the coal mining machine is used to obtain the cutting direction load and the traction direction load on the right drum of the coal mining machine. Specifically, the coal-rock cutting load calculation model of the coal mining machine drum is based on the input coal rock brittleness value B and coal seam height value h, as well as the coal mining machine traction speed V input by the coal mining machine controller. q , combined with the structural parameters of the shearer spiral drum, the cutting direction load R on the shearer drum is output a and traction direction load R b .

[0055] The load calculation model of the piston rod of the hydraulic cylinder of the left cutting part of the coal mining machine is used to obtain the load value on the piston rod of the hydraulic cylinder of the left cutting part of the coal mining machine. The load calculation model of the piston rod of the hydraulic cylinder of the right cutting part of the coal mining machine is used to obtain the load value on the piston rod of the hydraulic cylinder of the right cutting part of the coal mining machine. Specifically, the load calculation model of the piston rod of the hydraulic cylinder of the cutting part of the coal mining machine is based on the input cutting direction load R on the coal mining machine drum. a and traction direction load R b , and the displacement simulation value X of the piston rod of the hydraulic cylinder of the rocker arm of the coal mining machine cutting part c and the piston rod velocity simulation value V c , combined with the geometric structure relationship of the rocker arm of the cutting part of the coal mining machine, the load simulation value F on the piston rod of the hydraulic cylinder of the rocker arm of the cutting part of the coal mining machine is output.

[0056] The hydraulic system model for raising the rocker arm of the left cutting part of the coal mining machine is used to obtain the displacement simulation value of the piston rod of the hydraulic cylinder of the left cutting part and the speed simulation value of the piston rod. The hydraulic system model for raising the rocker arm of the right cutting part of the coal mining machine is used to obtain the displacement simulation value of the piston rod of the hydraulic cylinder of the right cutting part and the speed simulation value of the piston rod. Specifically, the hydraulic system model for raising the rocker arm of the cutting part of the coal mining machine is based on the load simulation value F on the piston rod of the hydraulic cylinder of the rocker arm of the cutting part of the coal mining machine, and the mining height calculation model of the coal mining machine cutting drum is based on the mining height target value instruction H of the coal mining machine controller to obtain the displacement target value X of the hydraulic cylinder piston rod of the rocker arm of the cutting part of the coal mining machine, and the displacement simulation value X of the hydraulic cylinder piston rod of the rocker arm of the cutting part of the coal mining machine is obtained by simulation. c and the piston rod velocity simulation value V c .

[0057] The sensor error model is a magnetostrictive displacement sensor error model, which is used to obtain and output the measured value of the magnetostrictive displacement sensor. Specifically, the magnetostrictive displacement sensor error model converts the simulated displacement value X of the hydraulic cylinder piston rod of the rocker arm of the coal mining machine cutting part into c As the ideal output value, and take the ideal output value as the reference value, since the error model of the magnetostrictive displacement sensor is used to simulate various uncertain factors of the sensor, the error value is added on the basis of the reference value, so that the measured value X of the magnetostrictive displacement sensor can be output. meas .

[0058] The mining height calculation model of the shearer cutting drum is used to obtain the mining height measurement value of the shearer drum and send the measurement value to the shearer controller. Specifically, the mining height calculation model of the shearer cutting drum is based on the measurement value X output by the sensor error model. meas , can output the coal mining machine drum mining height measurement value H meas . The coal mining machine drum height measurement value H meas and the shearer travel speed value V input by the shearer controller q The data is transmitted to the computer via Ethernet for data monitoring and storage. meas , the shearer travel speed value V input by the shearer controller q All of them are fed back to the coal mining machine controller through the CAN communication board and D / A converter, so that the coal mining machine controller will adjust the coal mining machine drum height measurement value H according to the coal mining machine drum height measurement value H. meas , Coal mining machine travel speed value V q and the shearer cutting path planning algorithm based on the coal seam geographic information system to issue the next control instruction to the simulation model running in the Simpole real-time simulation platform.

[0059] The three-dimensional digital geological model of the coal seam is used to obtain the amount of cut gangue and missed mining. Figure 2There is no description in the Appendix. Figure 2 It is just a schematic diagram of data transmission between various simulation models, but not all simulation models are included in it.

[0060] In this embodiment, the target value of the mining height of the coal mining machine drum can be calculated through the mining height calculation model of the coal mining machine cutting drum as the target value of the displacement of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal mining machine cutting part, and the measured value of the displacement of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal mining machine cutting part can also be calculated through the mining height calculation model of the coal mining machine cutting drum as the measured value of the mining height of the coal mining machine drum.

[0061] It is worth noting that the target value here is from the mining height target value to the displacement target value, and the measured value is from the displacement measured value to the mining height measured value. At the same time, the displacement simulation value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal mining machine cutting part includes the displacement simulation value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left cutting part of the coal mining machine and the displacement simulation value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right cutting part of the coal mining machine.

[0062] refer to Figure 3 This embodiment also provides a method for using the semi-physical simulation test system for a coal mining machine controller, and the method specifically includes the following steps:

[0063] Step S1: In the Simpole real-time simulation platform, a coal-rock environment model, a coal mining machine motion simulation model, a sensor error model, a coal mining machine cutting drum mining height calculation model and a coal seam three-dimensional digital geological model are established by a computer, and the real-time simulation server compiles and downloads the established coal-rock environment model, the coal mining machine motion simulation model, the sensor error model, the coal mining machine cutting drum mining height calculation model and the coal seam three-dimensional digital geological model, and downloads all the above simulation models to the real-time simulation server for operation.

[0064] Step S2: Download different coal mining machine cutting path planning algorithms based on the coal seam geographic information system to the coal mining machine controller respectively. At the same time, the coal mining machine controller calculates the gangue cutting amount and missed mining amount corresponding to each coal mining machine cutting path planning algorithm based on different coal seam geographic information systems according to the different coal mining machine cutting path planning algorithms based on the coal seam geographic information system and the simulation model running in the Simpole real-time simulation platform. In this embodiment, a coal mining machine cutting path planning algorithm based on the coal seam geographic information system is downloaded to the coal mining machine controller as an example for unified explanation. When another coal mining machine cutting path planning algorithm based on the coal seam geographic information system is downloaded to the coal mining machine controller, the gangue cutting amount and missed mining amount corresponding to the algorithm are consistent with the description here, so there will be no repeated explanation. The details are as follows:

[0065] Step S2.1: Download a coal mining machine cutting path planning algorithm based on the coal seam geographic information system to the coal mining machine controller.

[0066] Step S2.2: The shearer controller issues a shearer traction speed command V q The cutting drum height target value instruction H is used, and the shearer traction speed V is sent through the CAN communication board and A / D converter. q And the cutting drum height target value instruction H is sent to the simulation model of the Simpole real-time simulation platform.

[0067] At the same time, the shearer drum height control target value signal H is solved by the shearer cutting drum height calculation model to the shearer cutting part rocker arm height adjustment hydraulic cylinder piston rod displacement target value signal X. The shearer cutting part rocker arm height adjustment hydraulic cylinder piston rod displacement target value signal includes the shearer left cutting part rocker arm height adjustment hydraulic cylinder piston rod displacement target value signal and the shearer right cutting part rocker arm height adjustment hydraulic cylinder piston rod displacement target value signal.

[0068] Step S2.3: The shearer motion simulation model is based on the shearer traction speed V q , the displacement target value signal X of the piston rod of the hydraulic cylinder of the cutting part of the coal mining machine rock arm and the input parameter values ​​of the coal rock environment model, the coal rock brittleness value B and the coal seam height value h, and the output displacement simulation value of the piston rod of the hydraulic cylinder of the cutting part of the coal mining machine rock arm.

[0069] Step S2.4: The sensor error model takes the displacement simulation value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the cutting part of the coal mining machine as the output value under the ideal state. Since the sensor error model can be used to simulate various uncertain factors of the sensor, the error value is added on the basis of taking the ideal output value as the reference value, so as to obtain the displacement measurement value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the cutting part of the coal mining machine.

[0070] At the same time, the displacement measurement value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the shearer cutting part is solved into the shearer drum height measurement value through the shearer cutting drum height calculation model. Among them, the displacement measurement value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the shearer cutting part includes the displacement measurement value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left shearer cutting part and the displacement measurement value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right shearer cutting part.

[0071] Step S2.5: The shearer drum height measurement value and the shearer traction speed V q The data is transmitted to the computer via Ethernet for computer monitoring and storage. At the same time, the measured value of the shearer drum height and the shearer traction speed V q The data is transmitted to the coal mining machine controller through the CAN communication board and the D / A converter for operation feedback. The coal mining machine controller issues control instructions based on the feedback results and a coal mining machine cutting path planning algorithm based on the coal seam geographic information system set in step S2.1.

[0072] Step S2.6: The computer can obtain the cutting trajectory data of the coal mining machine based on the stored mining height measurement data of the left cutting drum of the coal mining machine, the mining height measurement data of the right cutting drum of the coal mining machine and the coal mining machine speed value data, and combine the cutting trajectory data of the coal mining machine with the three-dimensional digital geological model of the coal seam to obtain the cutting amount and missed mining amount corresponding to the coal mining machine cutting path planning algorithm based on the coal seam geographic information system.

[0073] In this embodiment, the measured displacement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left cutting part of the coal mining machine and the measured displacement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right cutting part of the coal mining machine can be solved into the measured values ​​of the coal mining machine drum mining height through the coal mining machine cutting drum mining height calculation model.

[0074] At the same time, the mining height target value of the coal mining machine drum can be solved by the mining height calculation model of the coal mining machine cutting drum into the displacement target value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left cutting part of the coal mining machine and the displacement target value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right cutting part of the coal mining machine.

[0075] Step S3: Compare the gangue cutting amount and missed mining amount corresponding to each coal mining machine cutting path planning algorithm based on the coal seam geographic information system, and determine the optimal coal mining machine cutting path planning algorithm based on the coal seam geographic information system. Specifically:

[0076] The gangue cutting amount and missed mining amount corresponding to each coal mining machine cutting path planning algorithm based on the coal seam geographic information system are compared to determine the minimum gangue cutting amount and the minimum missed mining amount. If the gangue cutting amount and missed mining amount corresponding to each coal mining machine cutting path planning algorithm based on the coal seam geographic information system are equal, it means that the cutting effect of each coal mining machine cutting path planning algorithm based on the coal seam geographic information system is the same, and both are the optimal coal mining machine cutting path planning algorithms based on the coal seam geographic information system.

[0077] On the contrary, if the gangue cutting amount and missed mining amount corresponding to each coal mining machine cutting path planning algorithm based on the coal seam geographic information system are not equal, then when the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum gangue cutting amount and the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum missed mining amount are the same coal mining machine cutting path planning algorithm based on the coal seam geographic information system, the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum gangue cutting amount and the minimum missed mining amount is the optimal coal mining machine cutting path planning algorithm based on the coal seam geographic information system.

[0078] When the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum gangue cutting amount and the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum missed mining amount are different types of coal mining machine cutting path planning algorithms based on the coal seam geographic information system, the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum missed mining amount is the optimal coal mining machine cutting path planning algorithm based on the coal seam geographic information system. Here, the minimum missed mining amount is given priority as the evaluation criterion to ensure that the maximum coal mining benefit can be obtained.

[0079] The present invention and its implementation methods are described schematically above, and the description is not restrictive. The drawings show only one implementation method of the present invention, and the actual structure and method are not limited thereto. Therefore, if a person skilled in the art is inspired by the invention and designs a structure and implementation method similar to the technical solution without creativity without departing from the purpose of the invention, they all fall within the protection scope of the present invention.

Claims

1. A semi-physical simulation test system for a coal mining machine controller, characterized in that: The test system includes a coal mining machine controller and a Simpole real-time simulation platform, wherein a simulation model for data interaction with the coal mining machine controller is run in the Simpole real-time simulation platform, wherein the coal mining machine controller controls the operation state of the coal mining machine and sets the control algorithm, and the simulation model is used to simulate the working environment and the working state of the coal mining machine; The simulation model includes a coal-rock environment model, a coal mining machine motion simulation model, a sensor error model, a coal mining machine cutting drum mining height calculation model and a coal seam three-dimensional digital geological model. The coal-rock environment model includes a rock brittleness index calculation model and a coal seam height model. The rock brittleness index calculation model is used to obtain the brittleness value of coal rocks, and the coal seam height model is used to obtain the height value of the coal seam. The shearer motion simulation model includes a shearer left cutting part model and a shearer right cutting part model, which travel at a constant speed according to the speed command issued by the shearer controller; The sensor error model is used to obtain and output the measurement value of the magnetostrictive displacement sensor; The shearer cutting drum mining height calculation model is used to obtain the shearer drum mining height measurement value and send the measurement value to the shearer controller; The three-dimensional digital geological model of the coal seam is used to obtain the amount of cut gangue and the amount of missed mining according to a preset control algorithm; The Simpole real-time simulation platform includes a computer and a real-time simulation server, wherein a CAN communication board, an A / D converter and a D / A converter are installed on the real-time simulation server; The computer is installed with AMESim software and Matlab / simulink software for building simulation models, Simpoleview software for monitoring and managing simulation data, and simulink plug-in and SimppoleRT software for compiling and downloading simulation models; The computer is used to establish a coal-rock environment model, a coal mining machine motion simulation model, a sensor error model, a coal mining machine cutting drum mining height calculation model and a coal seam three-dimensional digital geological model, and send the established coal-rock environment model, coal mining machine motion simulation model, sensor error model, coal mining machine cutting drum mining height calculation model and coal seam three-dimensional digital geological model to a real-time simulation server; The real-time simulation server is used to run the coal-rock environment model, the coal mining machine motion simulation model, the sensor error model, the coal mining machine cutting drum mining height calculation model and the coal seam three-dimensional digital geological model compiled and downloaded by the computer, and communicate with the coal mining machine controller through the CAN communication board, A / D converter and D / A converter; The shearer controller is provided with a shearer cutting path planning algorithm based on a coal seam geographic information system; The coal mining machine left cutting part model includes a coal mining machine left drum cutting coal and rock load calculation model, a coal mining machine left cutting part rocker arm height adjustment hydraulic cylinder piston rod load calculation model and a coal mining machine left cutting part rocker arm height adjustment hydraulic system model. The coal mining machine left drum cutting coal and rock load calculation model is used to obtain the cutting direction load and the traction direction load on the coal mining machine left drum; The load calculation model of the piston rod of the hydraulic cylinder for raising the rocker arm of the left cutting part of the coal mining machine is used to obtain the load value on the piston rod of the hydraulic cylinder for raising the rocker arm of the left cutting part of the coal mining machine; The hydraulic system model of the left cutting section rocker arm height adjustment of the coal mining machine is used to obtain the displacement simulation value and the piston rod speed simulation value of the piston rod of the left cutting section rocker arm height adjustment hydraulic cylinder, and at the same time, solve the load simulation value on the piston rod of the left cutting section rocker arm height adjustment hydraulic cylinder according to the displacement simulation value and the speed simulation value; The right cutting part model of the coal mining machine includes a coal mining machine right drum cutting coal and rock load calculation model, a coal mining machine right cutting part rocker arm height adjustment hydraulic cylinder piston rod load calculation model and a coal mining machine right cutting part rocker arm height adjustment hydraulic system model. The coal mining machine right drum cutting coal and rock load calculation model is used to obtain the cutting direction load and the traction direction load on the coal mining machine right drum; The load calculation model of the piston rod of the hydraulic cylinder for raising the rocker arm of the right cutting part of the coal mining machine is used to obtain the load value on the piston rod of the hydraulic cylinder for raising the rocker arm of the right cutting part of the coal mining machine; The coal mining machine right cutting part rocker arm height adjustment hydraulic system model is used to obtain the displacement simulation value and piston rod speed simulation value of the right cutting part rocker arm height adjustment hydraulic cylinder piston rod, and at the same time solve the load simulation value on the right cutting part rocker arm height adjustment hydraulic cylinder piston rod based on the displacement simulation value and speed simulation value.

2. A method for using the semi-physical simulation test system for a coal mining machine controller according to claim 1, characterized in that: The method of use specifically comprises the following steps: S1: In the Simpole real-time simulation platform, a coal-rock environment model, a coal mining machine motion simulation model, a sensor error model, a coal mining machine cutting drum mining height calculation model and a coal seam three-dimensional digital geological model are established by the computer, and the real-time simulation server compiles and downloads the established coal-rock environment model, coal mining machine motion simulation model, sensor error model, coal mining machine cutting drum mining height calculation model and coal seam three-dimensional digital geological model, and runs them in the real-time simulation server at the same time; S2: downloading different coal mining machine cutting path planning algorithms based on the coal seam geographic information system to the coal mining machine controller respectively, and the coal mining machine controller calculates the gangue cutting amount and missed mining amount corresponding to each coal mining machine cutting path planning algorithm based on the different coal seam geographic information system according to the different coal mining machine cutting path planning algorithms based on the coal seam geographic information system and the simulation model running in the Simpole real-time simulation platform; S3: Compare the gangue cutting amount and missed mining amount corresponding to each coal mining machine cutting path planning algorithm based on the coal seam geographic information system, and determine the optimal coal mining machine cutting path planning algorithm based on the coal seam geographic information system.

3. The method for using the semi-physical simulation test system for a coal mining machine controller according to claim 2 is characterized in that: In the step S2, the amount of gangue cut and the amount of missed mining corresponding to each of the coal mining machine cutting path planning algorithms based on the coal seam geographic information system are calculated, as follows: S2.1: downloading the coal mining machine cutting path planning algorithm based on the coal seam geographic information system to the coal mining machine controller; S2.2: The shearer controller sends the shearer travel speed and shearer drum mining height target value control signals to the simulation model running in the Simpole real-time simulation server through the CAN communication board and the A / D converter. At the same time, the shearer drum mining height control target value signal is calculated by the shearer cutting drum mining height calculation model to be the shearer cutting part rocker arm height adjustment hydraulic cylinder piston rod displacement target value signal; S2.3: The shearer motion simulation model outputs a displacement simulation value of a piston rod of a shearer cutting part rocker arm height adjustment hydraulic cylinder according to the shearer travel speed, a displacement target value signal of a piston rod of a shearer cutting part rocker arm height adjustment hydraulic cylinder and an input parameter value of a coal-rock environment model; S2.4: The sensor error model uses the displacement simulation value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal mining machine cutting part as the output value under the ideal state, and outputs the displacement measurement value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal mining machine cutting part. The displacement measurement value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal mining machine cutting part is solved into the coal mining machine drum mining height measurement value through the coal mining machine cutting drum mining height calculation model; S2.5: The shearer drum height measurement value and the shearer travel speed are transmitted to the computer via Ethernet, and the shearer drum height measurement value and the shearer travel speed are transmitted to the shearer controller via the CAN communication board and the D / A converter for operation feedback, and the shearer controller issues a control instruction according to the feedback result and the shearer cutting path planning algorithm based on the coal seam geographic information system; S2.6: The computer obtains the cutting trajectory data of the coal mining machine according to the control instructions of the coal mining machine controller, combines the cutting trajectory data of the coal mining machine with the three-dimensional digital geological model of the coal seam, and obtains the cutting amount and missed mining amount corresponding to the coal mining machine cutting path planning algorithm based on the coal seam geographic information system.

4. The method for using the semi-physical simulation test system for a coal mining machine controller according to claim 3 is characterized in that: The displacement value signal of the piston rod of the rocker arm heightening hydraulic cylinder of the cutting part of the coal mining machine includes the displacement value signal of the piston rod of the rocker arm heightening hydraulic cylinder of the left cutting part of the coal mining machine and the displacement value signal of the piston rod of the rocker arm heightening hydraulic cylinder of the right cutting part of the coal mining machine; the displacement simulation value of the piston rod of the rocker arm heightening hydraulic cylinder of the cutting part of the coal mining machine includes the displacement simulation value of the piston rod of the rocker arm heightening hydraulic cylinder of the left cutting part of the coal mining machine and the displacement simulation value of the piston rod of the rocker arm heightening hydraulic cylinder of the right cutting part of the coal mining machine; The displacement measurement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the coal shearer cutting part include the displacement measurement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left cutting part of the coal shearer and the displacement measurement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right cutting part of the coal shearer.

5. The method for using the semi-physical simulation test system for a coal mining machine controller according to claim 3 is characterized in that: The measured displacement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left cutting part of the coal mining machine and the measured displacement values ​​of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right cutting part of the coal mining machine can be solved as the coal mining machine drum mining height measured values ​​through the coal mining machine cutting drum mining height calculation model; the coal mining machine drum mining height target value can be solved as the target displacement value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the left cutting part of the coal mining machine and the target displacement value of the piston rod of the rocker arm height adjustment hydraulic cylinder of the right cutting part of the coal mining machine through the coal mining machine cutting drum mining height calculation model.

6. The method for using the semi-physical simulation test system for a coal mining machine controller according to claim 2 or 3, characterized in that: In step S3, the optimal coal mining machine cutting path planning algorithm based on the coal seam geographic information system is determined, specifically: Compare the gangue cutting amount and missed mining amount corresponding to each of the coal mining machine cutting path planning algorithms based on the coal seam geographic information system to determine the minimum gangue cutting amount and the minimum missed mining amount; when the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum gangue cutting amount and the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum missed mining amount are the same coal mining machine cutting path planning algorithm based on the coal seam geographic information system, the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum gangue cutting amount and the minimum missed mining amount is the optimal coal mining machine cutting path planning algorithm based on the coal seam geographic information system; When the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum cutting amount and the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum missed mining amount are different types of coal mining machine cutting path planning algorithms based on the coal seam geographic information system, the coal mining machine cutting path planning algorithm based on the coal seam geographic information system corresponding to the minimum missed mining amount is the optimal coal mining machine cutting path planning algorithm based on the coal seam geographic information system.

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