Method and system for controlling straightness of fully-mechanized coal mining face based on cascade control system

Abstract

The application relates to a kind of linearity control method and system of fully mechanized working face based on cascade control system, the method comprises: main regulator obtains the target overall linearity of all scraper conveyors of fully mechanized working face set, and obtains the actual overall linearity of all scraper conveyors of fully mechanized working face obtained by main transmitter monitoring;Main regulator is segmented to target overall linearity and actual overall linearity respectively, and according to the target linearity of each section after target overall linearity segmentation and the actual linearity of each section after actual overall linearity segmentation determines the straightening target of each section scraper conveyor;Main regulator sends the straightening target of each section scraper conveyor to secondary regulator, to control the actuator corresponding to each section scraper conveyor to execute push action according to the straightening target of each section scraper conveyor through secondary regulator, and the displacement of hydraulic support push rod is monitored through corresponding secondary transmitter, improve the control accuracy of the linearity of fully mechanized working face.

Description

Technical Field

[0001] This invention relates to the field of straightness control technology for fully mechanized mining faces, and in particular to a method and system for straightness control of fully mechanized mining faces based on a cascade control system. Background Technology

[0002] The management requirements for fully mechanized mining faces are "three straight lines and one level line," meaning that the hydraulic supports, scraper conveyors, and coal face must be in a straight line, and the scraper conveyors must operate smoothly. To ensure this alignment, the length and angle of the hydraulic support push rods, as well as the position and angle of the scraper conveyors, are manually adjusted during the face's advancement to maintain straightness and stability. However, the resulting straightness of the fully mechanized mining face is still not ideal.

[0003] Therefore, improving the accuracy of straightness control in fully mechanized mining faces is an urgent problem to be solved. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, the first objective of this invention is to propose a method for controlling the straightness of a fully mechanized mining face based on a cascade control system. This method obtains the modulation target of each individual scraper conveyor section and enables individual adjustment and optimization of each individual scraper conveyor section, thereby improving the control accuracy of the straightness of the fully mechanized mining face.

[0006] The second objective of this invention is to propose a straightness control device for a fully mechanized mining face based on a cascade control system.

[0007] The third objective of this invention is to provide an electronic device.

[0008] The fourth objective of this invention is to provide a computer-readable storage medium.

[0009] The fifth objective of this invention is to provide a computer program product.

[0010] To achieve the above objectives, a first aspect of the present invention proposes a method for controlling the straightness of a fully mechanized mining face based on a cascade control system. The cascade control system includes a main control loop and at least one secondary control loop, with the main control loop and each of the secondary control loops connected in series. The main control loop consists of a main controller, each of the secondary control loops, a main transmitter, and a main object. The main controller is a controller composed of controllers for the hydraulic support push rods corresponding to all the individual scraper conveyor sections. The main transmitter is a sensor for monitoring the overall straightness of the scraper conveyor, and the main object is the overall straightness of all the scraper conveyors. The secondary control loop consists of a secondary controller, an actuator, a secondary transmitter, and a secondary object. The secondary controller is a controller for the hydraulic support push rod corresponding to each individual scraper conveyor section. The actuator is the hydraulic support push rod corresponding to each individual scraper conveyor section. The secondary transmitter is a displacement monitoring sensor for the hydraulic support push rod corresponding to each individual scraper conveyor section. The secondary object... The method for controlling the straightness of a fully mechanized mining face based on a cascade control system, for the displacement of the hydraulic support push rod corresponding to a single section of the scraper conveyor, includes: the main controller acquiring a set target overall straightness of all scraper conveyors in the fully mechanized mining face, and acquiring the actual overall straightness of all scraper conveyors in the fully mechanized mining face monitored by the main transmitter; the main controller segmenting the target overall straightness and the actual overall straightness, and determining the straightening target of each section of the scraper conveyor based on the target straightness of each segment and the actual straightness of each segment of the actual overall straightness; the main controller sending the straightening target of each section of the scraper conveyor to the auxiliary controller, so that the auxiliary controller controls the actuator corresponding to each section of the scraper conveyor to perform a pushing action based on the straightening target of each section of the scraper conveyor, and monitors the displacement of the hydraulic support push rod through the corresponding auxiliary transmitter.

[0011] According to an embodiment of the present invention, a method for controlling the straightness of a fully mechanized mining face based on a cascade control system includes a main control loop and at least one secondary control loop, wherein the main control loop and each secondary control loop are connected in series. The main control loop consists of a main controller, each secondary control loop, a main transmitter, and a main object. The main controller is a controller composed of controllers for the hydraulic support push rods corresponding to all single-section scraper conveyors. The main transmitter is a sensor for monitoring the overall straightness of the scraper conveyors, and the main object is the overall straightness of all scraper conveyors. The secondary control loop consists of a secondary controller, an actuator, a secondary transmitter, and a secondary object. The secondary controller is a controller for the hydraulic support push rods corresponding to each single-section scraper conveyor. The actuator is the hydraulic support push rod corresponding to each single-section scraper conveyor. The secondary transmitter is a displacement monitoring sensor for the hydraulic support push rod corresponding to each single-section scraper conveyor, and the secondary object is the single-section scraper conveyor. The displacement of the hydraulic support push rod corresponding to the conveyor, based on a cascade control system for the straightness control of a fully mechanized mining face, includes: the main controller acquiring the set target overall straightness of all scraper conveyors in the fully mechanized mining face, and acquiring the actual overall straightness of all scraper conveyors in the fully mechanized mining face monitored by the main transmitter; the main controller segmenting the target overall straightness and the actual overall straightness, and determining the straightening target of each scraper conveyor section based on the target straightness of each segment and the actual straightness of each segment; the main controller sending the straightening target of each scraper conveyor section to the auxiliary controller, which then controls the actuators corresponding to each scraper conveyor section to perform pushing actions based on the straightening target of each section, and monitors the displacement of the hydraulic support push rod through the corresponding auxiliary transmitter. Therefore, this method allows each individual scraper conveyor section to be adjusted and optimized independently, thereby improving the control accuracy of the straightness of the fully mechanized mining face.

[0012] In addition, the method for controlling the straightness of a fully mechanized mining face based on a cascade control system proposed in the first aspect of the present invention may also have the following additional technical features:

[0013] In one embodiment of the present invention, before the main regulator segments the target overall straightness and the actual overall straightness, it further includes:

[0014] On the global coordinate system of the fully mechanized mining face, a first curve is generated based on the actual overall straightness of all the scraper conveyors on the fully mechanized mining face; wherein, the origin of the global coordinate system is the connection point between the base of any hydraulic support and the push rod on the fully mechanized mining face, the x-axis of the global coordinate system is the straight line in the arrangement direction of the hydraulic supports on the fully mechanized mining face, and the y-axis of the global coordinate system is the straight line in the advancing direction of the hydraulic supports on the fully mechanized mining face;

[0015] On the global coordinate system, a second curve is generated based on the target overall straightness of all the scraper conveyors in the fully mechanized mining face.

[0016] In one embodiment of the present invention, the main regulator segments the target overall straightness and the actual overall straightness, and determines the straightening target of each section of the scraper conveyor based on the target straightness of each segment after segmentation of the target overall straightness and the actual straightness of each segment after segmentation of the actual overall straightness, including:

[0017] Divide the first curve and the second curve into segments respectively;

[0018] Obtain the first spacing between each segment of the first curve after segmentation and the corresponding segment of the second curve after segmentation;

[0019] Based on each of the first intervals, the straightening target of the scraper conveyor in each section is determined.

[0020] In one embodiment of the present invention, the auxiliary regulator controls the actuator corresponding to each section of the scraper conveyor to perform a pushing action according to the straightening target of each section of the scraper conveyor, including:

[0021] Obtain the cutting depth of the coal mining machine;

[0022] The difference between the modulation target of each section of the scraper conveyor and the cutting depth of the coal mining machine is used as the pushing distance required to be executed by the actuator corresponding to each section of the scraper conveyor.

[0023] In one embodiment of the present invention, the above method further includes:

[0024] The main controller acquires the updated first curve and compares the second curve with the updated first curve to form a second gap. If the second gap is greater than or equal to a set gap, the controller continues to control each scraper conveyor until the second gap is less than the set gap.

[0025] To achieve the above objectives, a second aspect of the present invention provides a cascade control system for controlling the straightness of a fully mechanized mining face, comprising: the cascade control system including a main control loop and at least one secondary control loop, wherein the main control loop and each of the secondary control loops are connected in series; wherein, the main control loop consists of a main controller, each of the secondary control loops, a main transmitter, and a main object, the main controller being a controller composed of controllers for the hydraulic support push rods corresponding to all the single-section scraper conveyors, the main transmitter being a sensor for monitoring the overall straightness of the scraper conveyor, and the main object being the overall straightness of all the scraper conveyors; the secondary control loop consists of a secondary controller, an actuator, a secondary transmitter, and a secondary object, the secondary controller being a controller for the hydraulic support push rods corresponding to a single section of the scraper conveyor, the actuator being the hydraulic support push rods corresponding to a single section of the scraper conveyor, and the secondary transmitter being the hydraulic support push rods corresponding to a single section of the scraper conveyor. A displacement monitoring sensor for the push rod is used, wherein the secondary target is the displacement of the hydraulic support push rod corresponding to a single section of the scraper conveyor; wherein, the main controller is used to acquire the target overall straightness of all scraper conveyors in the fully mechanized mining face as set, and to acquire the actual overall straightness of all scraper conveyors in the fully mechanized mining face as monitored by the main transmitter, further segmenting the target overall straightness and the actual overall straightness, and determining the straightening target of each section of the scraper conveyor based on the target straightness of each segment and the actual straightness of each segment of the actual overall straightness, and sending the straightening target of each section of the scraper conveyor to the secondary controller; the secondary controller is used to control the actuator corresponding to each section of the scraper conveyor to perform a pushing action according to the straightening target of each section of the scraper conveyor, and to monitor the displacement of the hydraulic support push rod through the corresponding secondary transmitter.

[0026] A cascade control system for controlling the straightness of a fully mechanized mining face according to an embodiment of the present invention includes: the cascade control system comprising a main control loop and at least one secondary control loop, wherein the main control loop and each secondary control loop are connected in series; wherein, the main control loop consists of a main controller, each secondary control loop, a main transmitter, and a main object, the main controller being a controller composed of controllers for the hydraulic support push rods corresponding to all single-section scraper conveyors, the main transmitter being a sensor for monitoring the overall straightness of the scraper conveyors, and the main object being the overall straightness of all scraper conveyors; the secondary control loop consists of a secondary controller, an actuator, a secondary transmitter, and a secondary object, the secondary controller being a controller for the hydraulic support push rods corresponding to each single-section scraper conveyor, the actuator being a sensor for monitoring the displacement of the hydraulic support push rods corresponding to each single-section scraper conveyor, and the secondary transmitter being a sensor for monitoring the displacement of the hydraulic support push rods corresponding to each single-section scraper conveyor. The system uses sensors to measure the displacement of the hydraulic support push rod corresponding to a single section of the scraper conveyor. The main controller acquires the target overall straightness of all scraper conveyors in the longwall face, as well as the actual overall straightness monitored by the main transmitter. It further segments both the target and actual overall straightness, and determines the straightening target for each section of the scraper conveyor based on the target and actual straightness of each segment. This straightening target is then sent to the secondary controller. The secondary controller, based on the straightening target, controls the actuators corresponding to each section of the scraper conveyor to perform pushing actions, and monitors the displacement of the hydraulic support push rod via the corresponding secondary transmitter. Therefore, this system allows each single scraper conveyor section to be adjusted and optimized individually, thereby improving the accuracy of straightness control in the longwall face.

[0027] Furthermore, the cascade control system for controlling the straightness of a fully mechanized mining face proposed in the second aspect embodiment of the present invention may also have the following additional technical features:

[0028] According to one embodiment of the present invention, the master regulator is further configured to: before segmenting the target overall straightness and the actual overall straightness, respectively:

[0029] On the global coordinate system of the fully mechanized mining face, a first curve is generated based on the actual overall straightness of all the scraper conveyors on the fully mechanized mining face; wherein, the origin of the global coordinate system is the connection point between the base of any hydraulic support and the push rod on the fully mechanized mining face, the x-axis of the global coordinate system is the straight line in the arrangement direction of the hydraulic supports on the fully mechanized mining face, and the y-axis of the global coordinate system is the straight line in the advancing direction of the hydraulic supports on the fully mechanized mining face;

[0030] On the global coordinate system, a second curve is generated based on the target overall straightness of all the scraper conveyors in the fully mechanized mining face.

[0031] According to an embodiment of the present invention, when the main regulator is used to segment the target overall straightness and the actual overall straightness, and to determine the straightening target of each section of the scraper conveyor based on the target straightness of each segment after segmentation of the target overall straightness and the actual straightness of each segment after segmentation of the actual overall straightness, the adjustment includes:

[0032] Divide the first curve and the second curve into segments respectively;

[0033] Obtain the shift distance between each segment of the first curve after segmentation and the corresponding segment of the second curve after segmentation;

[0034] Based on the pushing distance described above, the straightening target of the scraper conveyor in each section is determined.

[0035] According to one embodiment of the present invention, when the auxiliary regulator controls the actuator corresponding to each section of the scraper conveyor to perform a pushing operation based on the straightening target of each section of the scraper conveyor, the auxiliary regulator includes:

[0036] Obtain the cutting depth of the coal mining machine;

[0037] The difference between the modulation target of each section of the scraper conveyor and the cutting depth of the coal mining machine is used as the pushing distance required to be executed by the actuator corresponding to each section of the scraper conveyor.

[0038] According to one embodiment of the present invention, the main regulator is further configured to:

[0039] The updated first curve is obtained, and the difference between the second curve and the updated first curve is compared. If the difference is greater than or equal to a set difference, the scraper conveyors are controlled until the difference is less than the set difference.

[0040] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0042] Figure 1 This is a schematic diagram of a cascade control system for controlling the straightness of a fully mechanized mining face according to an embodiment of the present invention;

[0043] Figure 2 This is a flowchart of a longwall mining face straightness control method based on a cascade control system according to an embodiment of the present invention. Detailed Implementation

[0044] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0045] The following describes, with reference to the accompanying drawings, an embodiment of the present invention: a method for controlling the straightness of a fully mechanized mining face based on a cascade control system, and a cascade control system for controlling the straightness of a fully mechanized mining face.

[0046] Figure 1 This is a schematic diagram of a cascade control system for controlling the straightness of a fully mechanized mining face according to an embodiment of the present invention.

[0047] like Figure 1 As shown, the cascade control system for controlling the straightness of a fully mechanized mining face according to an embodiment of the present invention includes:

[0048] The system comprises a main control loop and at least one secondary control loop, connected in series. The main control loop consists of a main controller, all secondary control loops, a main transmitter, and a main object. The main controller is a controller comprised of controllers for the hydraulic support push rods corresponding to all single-section scraper conveyors. The main transmitter is a sensor for monitoring the overall straightness of the scraper conveyors, and the main object is the overall straightness of all scraper conveyors. The secondary control loops consist of secondary controllers, actuators, secondary transmitters, and secondary objects. The secondary controller is a controller for the hydraulic support push rods corresponding to each single-section scraper conveyor. The actuator is for the hydraulic support push rods corresponding to each single-section scraper conveyor. The secondary transmitter is a sensor for monitoring the displacement of the hydraulic support push rods corresponding to each single-section scraper conveyor, and the secondary object is the displacement of the hydraulic support push rods corresponding to each single-section scraper conveyor. It should be noted that the number of secondary control loops is determined by the number of hydraulic supports on the working face. For example, if there are N hydraulic supports on the working face, then there are N secondary control loops.

[0049] In an embodiment of the present invention, the main controller is used to acquire the target overall straightness of all scraper conveyors in the fully mechanized mining face and the actual overall straightness of all scraper conveyors in the fully mechanized mining face as monitored by the main transmitter. The main controller further segments the target overall straightness and the actual overall straightness, and determines the straightening target for each scraper conveyor segment based on the target straightness of each segment and the actual straightness of each segment. The straightening target for each scraper conveyor segment is then sent to the secondary controller. The secondary controller controls the actuators corresponding to each scraper conveyor segment to perform pushing actions based on the straightening target of each segment, and monitors the displacement of the hydraulic support push rod through the corresponding secondary transmitter.

[0050] In one embodiment of the present invention, before segmenting the target overall straightness and the actual overall straightness, the main controller is further configured to: generate a first curve on the global coordinate system of the fully mechanized mining face, based on the actual overall straightness of all scraper conveyors on the fully mechanized mining face; wherein the origin of the global coordinate system is the connection point between the base of any hydraulic support and the push rod on the fully mechanized mining face, the x-axis of the global coordinate system is the straight line along the arrangement direction of the hydraulic supports on the fully mechanized mining face, and the y-axis of the global coordinate system is the straight line along the advancing direction of the hydraulic supports on the fully mechanized mining face; and generate a second curve on the global coordinate system based on the set target overall straightness of all scraper conveyors on the fully mechanized mining face. For example, when establishing the global coordinate system of the fully mechanized mining face, the connection point between the base of hydraulic support No. 1 on the working face and the push rod is taken as the origin of the global coordinate system, the straight line along the arrangement direction of the hydraulic support on the working face is taken as the x-axis of the global coordinate system, and the straight line along the advancing direction of the support on the working face is taken as the y-axis of the global coordinate system.

[0051] In one embodiment of the present invention, the main regulator is used to segment the target overall straightness and the actual overall straightness respectively, and to determine the straightening target of each section of the scraper conveyor based on the target straightness of each segment after segmentation of the target overall straightness and the actual straightness of each segment after segmentation of the actual overall straightness, including: segmenting the first curve and the second curve respectively; obtaining the displacement distance between each segment of the first curve after segmentation and the corresponding segment of the second curve after segmentation; and determining the straightening target of each section of the scraper conveyor based on each displacement distance.

[0052] In one embodiment of the present invention, when the auxiliary regulator controls the actuators corresponding to each section of the scraper conveyor to perform pushing operations according to the straightening target of each section of the scraper conveyor, the auxiliary regulator includes: obtaining the cutting depth of the coal mining machine; and using the difference between the adjustment target of each section of the scraper conveyor and the cutting depth of the coal mining machine as the pushing distance required to be performed by the actuators corresponding to each section of the scraper conveyor.

[0053] In one embodiment of the present invention, the main controller is further configured to: acquire the updated first curve, and compare the difference between the second curve and the updated first curve; if the difference is greater than or equal to a set difference, continue to control each scraper conveyor until the difference is less than the set difference.

[0054] The cascade control system for controlling the straightness of a fully mechanized mining face of the present invention consists of a main control loop system consisting of the overall straightness of the mining face, detected and controlled by a main controller, and a secondary control loop system consisting of individual hydraulic support push rods, detected and controlled by a secondary controller. In practical applications, the overall straightness of the next mining face is set according to the straightness target of the mining process, which is the target overall straightness SV1 of all the scraper conveyors of the fully mechanized mining face. The target overall straightness SV1 of all the scraper conveyors of the fully mechanized mining face is then compared with the straightness target of the main control loop system. The measured overall straightness PV1 of all scraper conveyors in the fully mechanized mining face is input to the main controller. The main controller calculates and outputs the modulation target for each scraper conveyor based on SV1 and PV1. The output value of the main controller is then used as the setpoint SV2 of the secondary controller. The secondary controller calculates the required pushing distance (SV2 minus the cutting depth of the coal mining machine) based on SV2. It then monitors the pushing distance PV2 detected by the secondary control loop system in real time until PV2 equals the required pushing distance calculated based on SV2. Next, the main controller obtains the actual overall straightness of all scraper conveyors after one round of pushing, using this as the updated actual overall straightness. It compares the updated actual overall straightness with the target overall straightness until the distance between these two overall straightnesses is still greater than or equal to the set distance. If this continues, control of each scraper conveyor continues until the distance between these two overall straightnesses is less than the set distance, at which point control of each scraper conveyor ends.

[0055] The cascade control system for controlling the straightness of a fully mechanized mining face, as described in this invention, is a dual closed-loop control system composed of controllers connected in series. Its purpose is to improve the control quality of the main variable by setting secondary variables. Due to the existence of secondary loops, and the fact that each hydraulic support's movement control secondary loop is relatively independent, it has a proactive control effect on disturbances entering the secondary loops. Therefore, each secondary loop can be adjusted and optimized independently, making the entire system more adaptable. Furthermore, disturbances such as changes in the controlled object and environmental disturbances can be filtered out in the secondary loops. Thus, it has advantages such as good stability, fast response speed, strong adaptability, and high reliability.

[0056] In summary, the cascade control system for controlling the straightness of a fully mechanized mining face according to an embodiment of the present invention includes: the cascade control system includes a main control loop and at least one secondary control loop, the main control loop and each secondary control loop being connected in series; wherein, the main control loop consists of a main controller, each secondary control loop, a main transmitter, and a main object, the main controller being a controller composed of controllers for the hydraulic support push rods corresponding to all single-section scraper conveyors, the main transmitter being a sensor for monitoring the overall straightness of the scraper conveyors, and the main object being the overall straightness of all scraper conveyors; the secondary control loop consists of a secondary controller, an actuator, a secondary transmitter, and a secondary object, the secondary controller being a controller for the hydraulic support push rods corresponding to each single-section scraper conveyor, the actuator being the hydraulic support push rod corresponding to each single-section scraper conveyor, and the secondary transmitter being the position of the hydraulic support push rod corresponding to each single-section scraper conveyor. The system employs a displacement monitoring sensor, with the secondary target being the displacement of the hydraulic support push rod corresponding to a single section of the scraper conveyor. The main controller acquires the target overall straightness of all scraper conveyors in the longwall face, as well as the actual overall straightness monitored by the main transmitter. It further segments both the target and actual overall straightness, and based on these segments, determines the straightening target for each section of the scraper conveyor. This straightening target is then sent to the secondary controller. The secondary controller, based on the straightening target for each section, controls the actuators corresponding to each section to perform pushing actions, and monitors the displacement of the hydraulic support push rod via the corresponding secondary transmitter. Therefore, this system allows for individual adjustment and optimization of each single scraper conveyor section, thereby improving the accuracy of straightness control in the longwall face.

[0057] Figure 2 This is a flowchart of a longwall mining face straightness control method based on a cascade control system according to an embodiment of the present invention.

[0058] like Figure 1 As shown, the cascade control system of the present invention includes a main control loop and at least one secondary control loop, with the main control loop and each secondary control loop connected in series. The main control loop consists of a main controller, each secondary control loop, a main transmitter, and a main object. The main controller is a controller composed of controllers for the hydraulic support push rods corresponding to all single-section scraper conveyors. The main transmitter is a sensor for monitoring the overall straightness of the scraper conveyor, and the main object is the overall straightness of all scraper conveyors. The secondary control loop consists of a secondary controller, an actuator, a secondary transmitter, and a secondary object. The secondary controller is a controller for the hydraulic support push rods corresponding to each single-section scraper conveyor. The actuator is the hydraulic support push rod corresponding to each single-section scraper conveyor. The secondary transmitter is a displacement monitoring sensor for the hydraulic support push rods corresponding to each single-section scraper conveyor, and the secondary object is the displacement of the hydraulic support push rods corresponding to each single-section scraper conveyor.

[0059] like Figure 2 As shown in the figure, the method for controlling the straightness of a fully mechanized mining face based on a cascade control system according to an embodiment of the present invention includes:

[0060] S1, the main controller acquires the target overall straightness of all scraper conveyors in the fully mechanized mining face as set, and acquires the actual overall straightness of all scraper conveyors in the fully mechanized mining face as monitored by the main transmitter.

[0061] S2, the main controller segments the overall target straightness and the actual overall straightness, and determines the straightening target of each section of the scraper conveyor based on the target straightness of each segment after segmentation of the overall target straightness and the actual straightness of each segment after segmentation of the actual overall straightness.

[0062] S3, the main controller sends the straightening target of each section of the scraper conveyor to the auxiliary controller, so that the auxiliary controller can control the actuators corresponding to each section of the scraper conveyor to perform pushing actions according to the straightening target of each section of the scraper conveyor, and monitor the displacement of the hydraulic support pushing rod through the corresponding auxiliary transmitter.

[0063] In one embodiment of the present invention, before the main controller segments the target overall straightness and the actual overall straightness, it further includes:

[0064] On the global coordinate system of the fully mechanized mining face, the first curve is generated based on the actual overall straightness of all scraper conveyors on the fully mechanized mining face; where the origin of the global coordinate system is the connection point between the base of any hydraulic support and the push rod on the fully mechanized mining face, the x-axis of the global coordinate system is the straight line in the arrangement direction of the hydraulic supports on the fully mechanized mining face, and the y-axis of the global coordinate system is the straight line in the advancing direction of the hydraulic supports on the fully mechanized mining face.

[0065] On the global coordinate system, a second curve is generated based on the target overall straightness of all scraper conveyors in the fully mechanized mining face.

[0066] In one embodiment of the present invention, the main controller segments the target overall straightness and the actual overall straightness, and determines the straightening target of each section of the scraper conveyor based on the target straightness of each segment after segmentation of the target overall straightness and the actual straightness of each segment after segmentation of the actual overall straightness, including:

[0067] Divide the first curve and the second curve into segments respectively;

[0068] Obtain the first spacing between each segment of the first curve after segmentation and the corresponding segment of the second curve after segmentation;

[0069] Based on the first spacing, determine the straightening target for each section of the scraper conveyor.

[0070] In one embodiment of the present invention, the secondary regulator controls the actuators corresponding to each section of the scraper conveyor to perform pushing operations based on the straightening target of each section of the scraper conveyor, including:

[0071] Obtain the cutting depth of the coal mining machine;

[0072] The difference between the modulation target of each scraper conveyor section and the cutting depth of the coal mining machine is used as the pushing distance required by the actuators of each scraper conveyor section.

[0073] In one embodiment of the present invention, the above method further includes:

[0074] The main controller acquires the updated first curve and compares the second gap between the second curve and the updated first curve. If the second gap is greater than or equal to the set gap, the controller continues to control each scraper conveyor until the second gap is less than the set gap.

[0075] It should be noted that the method for controlling the straightness of a fully mechanized mining face based on a cascade control system, as described in this embodiment of the invention, does not disclose...

[0076] According to an embodiment of the present invention, a method for controlling the straightness of a fully mechanized mining face based on a cascade control system includes a main control loop and at least one secondary control loop, wherein the main control loop and each secondary control loop are connected in series. The main control loop consists of a main controller, each secondary control loop, a main transmitter, and a main object. The main controller is a controller composed of controllers for the hydraulic support push rods corresponding to all single-section scraper conveyors. The main transmitter is a sensor for monitoring the overall straightness of the scraper conveyors, and the main object is the overall straightness of all scraper conveyors. The secondary control loop consists of a secondary controller, an actuator, a secondary transmitter, and a secondary object. The secondary controller is a controller for the hydraulic support push rods corresponding to each single-section scraper conveyor. The actuator is the hydraulic support push rod corresponding to each single-section scraper conveyor. The secondary transmitter is a displacement monitoring sensor for the hydraulic support push rod corresponding to each single-section scraper conveyor, and the secondary object is the single-section scraper conveyor. The displacement of the hydraulic support push rod corresponding to the conveyor, based on a cascade control system for the straightness control of a fully mechanized mining face, includes: the main controller acquiring the set target overall straightness of all scraper conveyors in the fully mechanized mining face, and acquiring the actual overall straightness of all scraper conveyors in the fully mechanized mining face monitored by the main transmitter; the main controller segmenting the target overall straightness and the actual overall straightness, and determining the straightening target of each scraper conveyor section based on the target straightness of each segment and the actual straightness of each segment; the main controller sending the straightening target of each scraper conveyor section to the auxiliary controller, which then controls the actuators corresponding to each scraper conveyor section to perform pushing actions based on the straightening target of each section, and monitors the displacement of the hydraulic support push rod through the corresponding auxiliary transmitter. Therefore, this method allows each individual scraper conveyor section to be adjusted and optimized independently, thereby improving the control accuracy of the straightness of the fully mechanized mining face.

[0077] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0078] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0079] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of the invention pertain.

Claims

1. A method for controlling the straightness of a fully mechanized mining face based on a cascade control system, characterized in that, The cascade control system includes a main control loop and at least one secondary control loop, wherein the main control loop and each of the secondary control loops are connected in series; wherein, the main control loop consists of a main controller, each of the secondary control loops, a main transmitter, and a main object, the main controller being a controller composed of controllers for the hydraulic support push rods corresponding to all single-section scraper conveyors, the main transmitter being a sensor for monitoring the overall straightness of the scraper conveyor, and the main object being the overall straightness of all the scraper conveyors; the secondary control loop consists of a secondary controller, an actuator, a secondary transmitter, and a secondary object, the secondary controller being a controller for the hydraulic support push rods corresponding to a single section of the scraper conveyor, the actuator being a sensor for monitoring the displacement of the hydraulic support push rods corresponding to a single section of the scraper conveyor, the secondary transmitter being a sensor for monitoring the displacement of the hydraulic support push rods corresponding to a single section of the scraper conveyor, and the secondary object being the displacement of the hydraulic support push rods corresponding to a single section of the scraper conveyor; the method includes: The main controller acquires the target overall straightness of all the scraper conveyors in the fully mechanized mining face as set, and acquires the actual overall straightness of all the scraper conveyors in the fully mechanized mining face as monitored by the main transmitter. The main regulator segments the target overall straightness and the actual overall straightness, and determines the straightening target of each section of the scraper conveyor based on the target straightness of each segment after segmentation of the target overall straightness and the actual straightness of each segment after segmentation of the actual overall straightness. The main controller sends the straightening target of each section of the scraper conveyor to the auxiliary controller, so that the auxiliary controller controls the actuator corresponding to each section of the scraper conveyor to perform pushing action according to the straightening target of each section of the scraper conveyor, and monitors the displacement of the hydraulic support pushing rod through the corresponding auxiliary transmitter; Before the main regulator segments the target overall straightness and the actual overall straightness, it further includes: On the global coordinate system of the fully mechanized mining face, a first curve is generated based on the actual overall straightness of all the scraper conveyors on the fully mechanized mining face; wherein, the origin of the global coordinate system is the connection point between the base of any hydraulic support and the push rod on the fully mechanized mining face, the x-axis of the global coordinate system is the straight line in the arrangement direction of the hydraulic supports on the fully mechanized mining face, and the y-axis of the global coordinate system is the straight line in the advancing direction of the hydraulic supports on the fully mechanized mining face; On the global coordinate system, a second curve is generated based on the target overall straightness of all the scraper conveyors in the fully mechanized mining face; The main controller segments the target overall straightness and the actual overall straightness, and determines the straightening target of each section of the scraper conveyor based on the target straightness of each segment after segmentation and the actual straightness of each segment after segmentation, including: Divide the first curve and the second curve into segments respectively; Obtain the first spacing between each segment of the first curve after segmentation and the corresponding segment of the second curve after segmentation; Based on each of the first intervals, the straightening target of the scraper conveyor in each section is determined.

2. The method according to claim 1, characterized in that, The auxiliary regulator controls the actuators corresponding to each section of the scraper conveyor to perform pushing operations based on the straightening target of each section, including: Obtain the cutting depth of the coal mining machine; The difference between the straightening target of each section of the scraper conveyor and the cutting depth of the coal mining machine is used as the pushing distance that the actuator of each section of the scraper conveyor needs to perform.

3. The method according to claim 1, characterized in that, The method further includes: The main controller acquires the updated first curve and compares the second curve with the updated first curve to form a second gap. If the second gap is greater than or equal to a set gap, the controller continues to control each scraper conveyor until the second gap is less than the set gap.

4. A cascade control system for controlling the straightness of a fully mechanized mining face, characterized in that, include: The system comprises a main control loop and at least one secondary control loop, wherein the main control loop and each of the secondary control loops are connected in series. The main control loop consists of a main controller, each of the secondary control loops, a main transmitter, and a main object. The main controller is a controller comprised of controllers for the hydraulic support push rods corresponding to all individual scraper conveyor sections. The main transmitter is a sensor for monitoring the overall straightness of the scraper conveyor. The main object represents the overall straightness of all the scraper conveyors. The secondary control loop consists of a secondary controller, an actuator, a secondary transmitter, and a secondary object. The secondary controller is a controller for the hydraulic support push rods corresponding to each individual scraper conveyor section. The actuator is a sensor for monitoring the displacement of the hydraulic support push rods corresponding to each individual scraper conveyor section. The secondary object represents the displacement of the hydraulic support push rods corresponding to each individual scraper conveyor section. The main controller is used to acquire the target overall straightness of all the scraper conveyors in the fully mechanized mining face, and to acquire the actual overall straightness of all the scraper conveyors in the fully mechanized mining face as monitored by the main transmitter. It further segments the target overall straightness and the actual overall straightness, and determines the straightening target of each section of the scraper conveyor based on the target straightness of each segment and the actual straightness of each segment of the actual overall straightness. It then sends the straightening target of each section of the scraper conveyor to the secondary controller. The auxiliary regulator is used to control the actuator corresponding to each section of the scraper conveyor to perform a pushing action according to the straightening target of each section of the scraper conveyor, and to monitor the displacement of the hydraulic support pushing rod through the corresponding auxiliary transmitter; The main regulator is further configured to: before segmenting the target overall straightness and the actual overall straightness, respectively: On the global coordinate system of the fully mechanized mining face, a first curve is generated based on the actual overall straightness of all the scraper conveyors on the fully mechanized mining face; wherein, the origin of the global coordinate system is the connection point between the base of any hydraulic support and the push rod on the fully mechanized mining face, the x-axis of the global coordinate system is the straight line in the arrangement direction of the hydraulic supports on the fully mechanized mining face, and the y-axis of the global coordinate system is the straight line in the advancing direction of the hydraulic supports on the fully mechanized mining face; On the global coordinate system, a second curve is generated based on the target overall straightness of all the scraper conveyors in the fully mechanized mining face; The main regulator is used to segment the target overall straightness and the actual overall straightness, and to determine the straightening target of each section of the scraper conveyor based on the target straightness of each segment after segmentation of the target overall straightness and the actual straightness of each segment after segmentation of the actual overall straightness, including: Divide the first curve and the second curve into segments respectively; Obtain the first spacing between each segment of the first curve after segmentation and the corresponding segment of the second curve after segmentation; Based on each of the first intervals, the straightening target of the scraper conveyor in each section is determined.

5. The system according to claim 4, characterized in that, The secondary regulator is used to control the actuators corresponding to each section of the scraper conveyor to perform pushing operations according to the straightening target of each section of the scraper conveyor, including: Obtain the cutting depth of the coal mining machine; The difference between the straightening target of each section of the scraper conveyor and the cutting depth of the coal mining machine is used as the pushing distance that the actuator of each section of the scraper conveyor needs to perform.

6. The system according to claim 4, characterized in that, The main regulator is also used for: The updated first curve is obtained, and the second gap between the second curve and the updated first curve is compared. If the second gap is greater than or equal to the set gap, the scraper conveyors are controlled until the second gap is less than the set gap.

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