Scraping conveyor power cooperative control method and system, electronic equipment and medium

Abstract

This invention provides a power coordination control method, system, electronic device, and medium for a scraper conveyor. The control method includes the following steps: under load operation, calculating the torque T of the tail motor based on the load. tail_min At that time, the torque T′ required by the head motor of the scraper conveyor to maintain the preset operating speed, where T tail_min The torque of the tail motor is obtained when the bottom chain is adjusted to a preset drooping state under no-load operation; it is determined that T′ is not greater than the preset torque T. head At that time, adjust the torque of the tail motor to T. tail_min And adjust the torque of the head motor to T′; preset torque T head The torque is less than the rated torque of the head motor and tail motor; this setting achieves power coordination between the head motor and tail motor, which can minimize the wear of the scraper groove and the load on the automatic tensioning device of the scraper chain; both the head motor and tail motor operate within their rated torque range, avoiding heat dissipation problems.

Description

Technical Field

[0001] This invention relates to the technical field of conveyor control, and in particular to a power coordination control method, system, electronic equipment, and medium for scraper conveyors. Background Technology

[0002] As a conveying equipment, scraper conveyors are widely used in fully mechanized mining faces. Scraper conveyors are divided into a head section and a tail section, each driven by a frequency converter motor to rotate, thereby realizing the operation of the scraper conveyor.

[0003] In related technologies, during the operation of scraper conveyors, the head motor and tail motor are generally operated at equal power to ensure that the load is evenly distributed on the head and tail motors, reduce chain jamming problems, and ensure balanced heat generation of the head motor, tail motor, and frequency converter to avoid heat dissipation problems.

[0004] However, by adopting the above technical solution, the tail motor will exert a large pulling force on the head sprocket, causing the scraper grooves to squeeze and rub against each other, resulting in wear of the scraper grooves; at the same time, it will also increase the load on the automatic tensioning device. Summary of the Invention

[0005] This invention provides a power coordination control method, system, electronic device, and medium for scraper conveyors, which solves the problem in the prior art where the head motor and tail motor always operate at the same power, which easily causes scraper wear and increases the load on the automatic tensioning device. It can reduce the wear of the scraper groove and reduce the load on the automatic tensioning device of the scraper chain.

[0006] This invention provides a power coordination control method for scraper conveyors, comprising the following steps:

[0007] Under load operation, the torque of the tail motor is calculated as T based on the load. tail_min At that time, the torque T′ required by the head motor of the scraper conveyor to maintain the preset operating speed, where T tail_min The torque of the tail motor is obtained when the bottom chain is adjusted to a preset drooping state under no-load operation.

[0008] Ensure that T′ is not greater than the preset torque T head When this happens, the torque of the tail motor is adjusted to T. tail_min And adjust the torque of the head motor to T′; the preset torque T head Less than the rated torque of the head motor and tail motor.

[0009] The scraper conveyor power coordination control method provided by the present invention further includes:

[0010] Determine that T′ is greater than the preset torque T headAt that time, the torque of the machine head motor is calculated based on the load as T. head At that time, the torque T″ of the tail motor required for the scraper conveyor to maintain the preset operating speed;

[0011] Determine that T″ is less than the preset torque T head At that time, adjust the torque of the machine head motor to T. head And adjust the torque of the tail motor to T″.

[0012] The scraper conveyor power coordination control method provided by the present invention further includes:

[0013] Ensure that T″ is not less than the preset torque T head At this time, the torque of the head motor is adjusted to be equal to the torque of the tail motor.

[0014] According to a power coordination control method for a scraper conveyor provided by the present invention, in the no-load state, adjusting the bottom chain to a preset sagging state includes:

[0015] Gradually increase the torque of the head motor and decrease the torque of the tail motor until the bottom chain at the head is in the preset drooping state.

[0016] According to a power coordination control method for a scraper conveyor provided by the present invention, before adjusting the bottom chain to a preset sagging state in the no-load operation state, the method further includes:

[0017] The automatic tensioning device is controlled to keep the scraper chain taut.

[0018] According to the present invention, a power coordination control method for a scraper conveyor is provided, wherein the preset torque T head Greater than the T head_min , among which, T head_min The torque of the head motor is obtained when the bottom chain is adjusted to a preset drooping state under no-load operation.

[0019] According to the present invention, a power coordination control method for a scraper conveyor is provided, wherein the preset torque T head The torque shall not exceed 85% of the rated torque of the head motor.

[0020] The present invention also provides a power coordination control system for scraper conveyors, comprising:

[0021] The acquisition module is suitable for acquiring the torque of the head motor and tail motor. When the bottom chain is in a preset drooping state, the torque of the head motor is acquired as T. head_min The torque of the tail motor is T tail_min ;

[0022] The processing module is used to calculate the torque T of the tail motor based on the load under load conditions. tail_minAt that time, the torque T′ required by the head motor of the scraper conveyor to maintain the preset operating speed;

[0023] The control module is used to control the torque of the head motor and tail motor, ensuring that T′ does not exceed the preset torque T. head When this happens, the torque of the tail motor is adjusted to T. tail_min And adjust the torque of the head motor to T′.

[0024] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the above-described scraper conveyor power coordination control methods.

[0025] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any of the above-described scraper conveyor power coordinated control methods.

[0026] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the scraper conveyor power coordination control method as described above.

[0027] Beneficial effects:

[0028] 1. This invention provides a power coordination control method, system, electronic equipment, and medium for a scraper conveyor. When the load is small, the head motor pulls the chain and load, while the tail motor pulls the bottom chain, achieving power coordination. The tail motor does not exert a pulling force F on the sprocket of the head motor towards the tail. 机头3 This effectively avoids the problem of mutual squeezing and friction between the scraper grooves caused by the tail motor pulling the sprocket of the head towards the tail. It can minimize the wear of the scraper grooves and the load on the automatic tensioning device of the scraper chain. At the same time, since both the head motor and the tail motor operate within the rated torque, the heat dissipation capacity of the motor and the frequency converter is within the rated range of the product, thus avoiding heat dissipation problems.

[0029] 2. When the load is large, the head motor of the scraper conveyor pulls the chain and the load, while the tail motor pulls the bottom chain and, through the head sprocket, pulls the load together with the head motor. Both the head and tail motors are within their rated power range. Although the tail motor applies a tail-direction pulling force F to the head sprocket at this time... 机头3 However, the head motor maintains the preset torque T head In this case, F can be achieved 机头3 The minimum torque is minimized, thereby reducing the problem of mutual squeezing and friction between the scraper grooves caused by the tail motor pulling the sprocket of the head motor towards the tail. In addition, both the head motor and the tail motor operate within the rated torque range. Therefore, the heat dissipation capacity of the motor and the frequency converter is within the rated range of the product, avoiding heat dissipation problems.

[0030] 3. When the load is large, the torque of the head motor is equal to that of the tail motor, achieving power balance between the head motor and the tail motor. The head motor pulls the chain and the load, while the tail motor pulls the bottom chain and pulls the load together with the head motor, thus quickly transporting the load out. The head motor and the tail motor operate in a power balance state and have the same heat dissipation. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 This is a schematic flowchart of the scraper conveyor power coordination control method provided in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the power coordination control system for scraper conveyors provided in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0036] To facilitate understanding of the scraper conveyor power coordination control method, system, electronic equipment and medium provided by the present invention, its application background is first explained. As a conveying device, scraper conveyors are widely used in fully mechanized mining faces. Scraper conveyors generally include a head section and a tail section, which are driven by a head motor and a tail motor, respectively, to realize the operation of the scraper chain.

[0037] In related technologies, the head motor and tail motor are generally operated at equal power, thereby distributing the load evenly between them. This solves at least the following problems:

[0038] 1. Chain jamming is prone to occur at the bottom of the scraper conveyor;

[0039] 2. Chain jamming is prone to occur near the tail of the scraper conveyor.

[0040] 3. Imbalanced loads on the head and tail motors can easily cause overload at the head and underload at the tail, or vice versa.

[0041] 4. Imbalance in the power of the motors and frequency converters at the head and tail of the machine can easily lead to different amounts of heat generation, causing heat dissipation problems.

[0042] However, in practical applications, it has been found that there are certain problems with the head motor and tail motor always operating at the same power.

[0043] The scraper conveyor is driven by a head motor and a tail motor to rotate the sprockets. The sprockets drive the scraper chain to transport the load to the transfer conveyor at the head of the conveyor. The sprockets at the head and tail are static pulleys. Force analysis shows that:

[0044] In the lower part, F 机尾 =F 底链 +F 机头1 ;

[0045] At the top, F 负载 +F 上链 =F 机头 +F 机头2 ;

[0046] F 机头1 =F 机头2 +F 机头3 ;

[0047] Among them, F 机头1 It is the force exerted by the tail motor on the lower tangent of the head sprocket, in addition to the force acting on the bottom chain; F 机头2 The force F is the force exerted by the tail motor on the upper tangent of the machine head after passing through the sprocket and stationary pulley at the head; 机头3 This is the force exerted by the tail motor on the head sprocket, pulling the machine towards the tail.

[0048] The payload is F 负载 F 上链 F 底链 .

[0049] Therefore, it can be seen that there are the following drawbacks when the head motor and tail motor always operate at the same power:

[0050] 1. F 机头3 The force exerted by the tail motor on the head sprocket pulls the machine towards the tail. This force pulls the head sprocket towards the tail, causing the scraper grooves to squeeze and rub against each other, which can easily lead to wear of the scraper grooves.

[0051] 2. The scraper conveyor is equipped with an automatic scraper chain tensioning device at the tail end. Its purpose is to stretch the scraper chain in both directions at the head and tail, thereby tightening the chain and preventing chain jamming during operation. The direction of this force is opposite to F. 机头3 Conversely, that is, F 机头3 The load on the automatic tensioning device of the scraper chain has been increased.

[0052] Based on the above, the present invention provides a power coordination control method, system, electronic device and medium for scraper conveyors, which reduces the wear of scraper troughs and the load on the automatic tensioning device of scraper chains.

[0053] The following is combined Figures 1-3 The present invention describes a scraper conveyor power coordination control method, system, electronic equipment, and medium.

[0054] Reference Figure 1 A power coordination control method for a scraper conveyor is disclosed. The scraper conveyor includes a head and a tail, both equipped with sprockets. A scraper chain is installed between the sprockets at the head and tail. A head motor is installed at the head to drive the head sprocket, and a tail motor is installed at the tail to drive the tail sprocket, thereby realizing the operation of the scraper chain. The upper part of the scraper chain is the upper chain, and the lower part is the bottom chain. An automatic tensioning device is installed at the tail of the scraper conveyor to tension the scraper chain.

[0055] The power coordination control method for scraper conveyors includes the following steps:

[0056] Step S110: Under no-load operation, adjust the bottom chain to the preset drooping state.

[0057] When the scraper conveyor is unloaded, start the head motor and tail motor. The head motor and tail motor drive the sprockets of the head and tail motors to rotate respectively. The sprockets of the head and tail motors apply force to the upper chain and bottom chain of the scraper conveyor respectively, and the scraper chain runs. Gradually increase the torque of the head motor and decrease the torque of the tail motor, and the drooping state of the bottom chain changes accordingly.

[0058] It is understandable that when a motor is running, its operating parameters include voltage, current, power, torque, and speed. Power = voltage × current, torque is directly proportional to current, torque is directly proportional to the force acting on the sprocket, and voltage is directly proportional to speed. The head motor and tail motor drive the scraper conveyor simultaneously, so their speeds are equal. Adjusting the torque only requires adjusting the current.

[0059] The torque of the head motor and tail motor is adjusted by regulating the current, which changes the sag state of the bottom chain until the bottom chain is in a preset sag state. The preset sag state refers to a slight sag of the bottom chain at the head of the machine. Specifically, a certain threshold can be set. When the sag of the bottom chain at the head of the machine reaches the threshold, it is determined that the preset sag state has been reached.

[0060] Specifically, the amount of sag of the bottom chain can be measured by sensors or obtained through human experience, such as using a distance sensor.

[0061] Step S120: When the bottom chain is in a preset drooping state, obtain the torque T of the head motor. head_min and the torque T of the tail motor tail_min .

[0062] Specifically, when the bottom chain reaches the preset sagging state, at the lower part of the scraper conveyor, F 机尾 =F 底链 At the top of the scraper conveyor, F 机头 =F 上链 F 负载 =0. At this time, the head motor only applies force to the upper chain, and the tail motor only applies force to the bottom chain, thus realizing that the head motor pulls the upper chain and the tail motor pulls the bottom chain.

[0063] Understandably, T head_min and T tail_min It can be obtained through the above steps S110-S120 that, for scraper conveyors of the same specification, that is, when the specifications of the relevant components of the scraper conveyor remain unchanged, T head_min and T tail_min It can be retrieved once and then stored for later retrieval and use; therefore, T head_min and T tail_min It can be obtained through the above steps, or it can be pre-stored; when the specifications of relevant components of the scraper conveyor change, T head_min and T tail_min It can be retrieved again through steps S110-S120.

[0064] Step S130: Under load operation, calculate the torque T of the tail motor based on the load. tail_min At that time, the torque T′ of the head motor required for the scraper conveyor to maintain the preset operating speed.

[0065] Under load, the torque of the tail motor is T. tail_min At this time, the tail motor pulls the bottom chain, and the head motor pulls the load. When the load changes, the torque of the head motor will also change. The torque T′ of the head motor when the scraper conveyor maintains the preset operating speed under the current load is calculated.

[0066] Step S140: Determine that T′ is not greater than the preset torque T. head At that time, adjust the torque of the tail motor to T. tail_min And adjust the torque of the head motor to T′, with a preset torque T. head Less than the rated torque of the head motor and tail motor.

[0067] When the torque of the tail motor is T tail_min If the calculated torque T′ of the head motor is not greater than the preset torque T, then... head This indicates that within the rated power range, the load can be delivered using only the head motor. Therefore, the torque of the tail motor should be kept at T. tail_min At this time, the tail motor only applies force to the bottom chain, i.e., F 机尾 =F 底链 The machine head applies force to the upper chain and the load, i.e., F 机头 =F 上链 +F 负载 The head motor pulls the chain and load, while the tail motor pulls the bottom chain, achieving power coordination. The tail motor does not exert a pulling force F on the head sprocket towards the tail. 机头3 This effectively avoids the problem of mutual squeezing and friction between the scraper grooves caused by the tail motor pulling the sprocket of the head towards the tail. It can minimize the wear of the scraper grooves and the load on the automatic tensioning device of the scraper chain. At the same time, since both the head motor and the tail motor operate within the rated torque, the heat dissipation capacity of the motor and the frequency converter is within the rated range of the product, thus avoiding heat dissipation problems.

[0068] Step S150: Determine that T′ is greater than the preset torque T. head At that time, the torque of the machine head motor is calculated based on the load as T. head At that time, the torque T″ of the tail motor required for the scraper conveyor to maintain the preset operating speed;

[0069] Determine that T″ is less than the preset torque T head At that time, adjust the torque of the machine head motor to T. head And adjust the torque of the tail motor to T″.

[0070] When the torque of the tail motor is T tail_min If the calculated torque T′ of the head motor is greater than the preset torque T, then... head This indicates that the load is relatively large at this time, and relying solely on the head motor to pull the load may exceed the rated torque of the head motor. Furthermore, when the torque of the head motor is T... head At that time, the torque T″ of the tail motor required for the scraper conveyor to maintain the preset operating speed is less than T. head This indicates that the head motor maintains T headIn this case, simply increasing the torque of the tail motor appropriately will allow the scraper conveyor to maintain the preset operating speed under the current load, and the tail motor will not exceed its rated power. The force relationship at this time is as follows:

[0071] At the bottom of the scraper conveyor, F 机尾 =F 底链 +F 机头1 ;

[0072] Above the scraper conveyor, F 负载 +F 上链 =F 机头 +F 机头2 ;

[0073] Among them, F 机头1 =F 机头2 +F 机头3 .

[0074] At this time, the head motor of the scraper conveyor pulls the chain and load, while the tail motor pulls the bottom chain and, together with the head motor, pulls the load via the head sprocket. Both the head and tail motors are within their rated power range. Although the tail motor applies a tail-direction pulling force F to the head sprocket at this time... 机头3 However, the head motor maintains the preset torque T head In this case, F can be achieved 机头3 The minimum torque is minimized, thereby reducing the problem of mutual squeezing and friction between the scraper grooves caused by the tail motor pulling the sprocket of the head motor towards the tail. In addition, both the head motor and the tail motor operate within the rated torque range. Therefore, the heat dissipation capacity of the motor and the frequency converter is within the rated range of the product, avoiding heat dissipation problems.

[0075] Step S160: Determine that T″ is not less than the preset torque T. head At this time, the torque of the head motor is adjusted to be equal to the torque of the tail motor.

[0076] When the torque of the head motor is T head If the torque T″ of the tail motor required for the scraper conveyor to maintain the preset operating speed is not less than T, then... head This indicates that the load is too high at this time, even if the torque of the head motor is maintained at T. head Under certain circumstances, it is difficult to maintain the preset operating speed of the scraper conveyor under the current load by simply adjusting the tail motor within the rated power range. Therefore, the torque of the tail motor is adjusted to T. tail_min +T2, adjust the torque of the machine head motor to T. head+T3, the torque of the head motor is equal to that of the tail motor, achieving power balance between the head and tail motors. The head motor pulls the chain and load, while the tail motor pulls the bottom chain and pulls the load together with the head motor, thus quickly transporting the load out. The head and tail motors operate in a power-balanced state and have the same heat dissipation.

[0077] Specifically, the preset torque T head Greater than T head_min .

[0078] Specifically, the preset torque T head The torque can be adjusted according to the working conditions of different fully mechanized mining faces. In this embodiment, the preset torque T head The torque shall not exceed 85% of the rated torque of the head motor.

[0079] On the other hand, the present invention also provides a power coordination control system for scraper conveyors, referring to... Figure 2 The control system includes:

[0080] The acquisition module 210 is used to acquire the torque of the head motor and the tail motor. When the bottom chain is in a preset drooping state, the torque of the head motor is acquired as T. head_min The torque of the tail motor is T tail_min ;

[0081] Processing module 220 is used to calculate the torque T of the tail motor based on the load under load conditions. tail_min At that time, the torque T′ required by the head motor of the scraper conveyor to maintain the preset operating speed;

[0082] Control module 230 is used to control the torque of the head motor and tail motor, ensuring that T′ is not greater than the preset torque T. head At that time, adjust the torque of the tail motor to T. tail_min And adjust the torque of the head motor to T′.

[0083] In one specific implementation, if T′ is greater than the preset torque T head The processing module 220 can calculate based on the load, when the torque of the head motor is T. head At that time, the torque T″ of the tail motor required for the scraper conveyor to maintain the preset operating speed;

[0084] Determine that T″ is less than the preset torque T head At that time, the control module 230 adjusts the torque of the head motor to T. head And adjust the torque of the tail motor to T″.

[0085] In one specific implementation, it is determined that T″ is not less than a preset torque T. headAt that time, the control module 230 adjusts the torque of the head motor to be equal to the torque of the tail motor.

[0086] In one specific implementation, before the head motor and tail motor are started, the control module 230 controls the automatic tensioning device to keep the scraper chain in a tensioned state.

[0087] On the other hand, the present invention also provides an electronic setting, such as Figure 3 As shown, Figure 3 A schematic diagram of the physical structure of an electronic device is provided. This electronic device may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340. The processor 310, communication interface 320, and memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions from the memory 330 to execute a power coordination control method for the scraper conveyor. This method includes: under load operation, calculating the torque T of the tail motor based on the load amount. tail_min At that time, the torque T′ required by the head motor of the scraper conveyor to maintain the preset operating speed, where T tail_min The torque of the tail motor is measured when the bottom chain is adjusted to a preset drooping state under no-load operation; it is determined that T′ is not greater than the preset torque T. head At that time, adjust the torque of the tail motor to T. tail_min And adjust the torque of the head motor to T′; the preset torque T head Less than the rated torque of the head motor and tail motor.

[0088] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the scraper conveyor power coordination control method provided by the above methods. The method includes: under load operation, calculating the torque of the tail motor as T based on the load. tail_min At that time, the torque T′ required by the head motor of the scraper conveyor to maintain the preset operating speed, where T tail_min The torque of the tail motor is measured when the bottom chain is adjusted to a preset drooping state under no-load operation; it is determined that T′ is not greater than the preset torque T. head At that time, adjust the torque of the tail motor to T. tail_min And adjust the torque of the head motor to T′; the preset torque T head Less than the rated torque of the head motor and tail motor.

[0090] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the scraper conveyor power coordination control method provided by the above methods, the method comprising: under load operation, calculating the torque of the tail motor as T based on the load amount. tail_min At that time, the torque T′ required by the head motor of the scraper conveyor to maintain the preset operating speed, where T tail_min The torque of the tail motor is measured when the bottom chain is adjusted to a preset drooping state under no-load operation; it is determined that T′ is not greater than the preset torque T. head When this happens, the torque of the tail motor is adjusted to T. tail_min And adjust the torque of the head motor to T′; the preset torque T head Less than the rated torque of the head motor and tail motor.

[0091] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0092] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for coordinated power control of a scraper conveyor, characterized in that, Includes the following steps: In the load running state, the torque T of the tail motor is calculated based on the load amount tail_min When the scraper conveyor maintains the preset running speed, the torque T' of the head motor is required, wherein T tail_min In the load running state, the torque T of the tail motor is calculated based on the load amount determining that T' is not greater than a preset torque T head adjusting the torque of the tail motor to T tail_min and adjusting the torque of the head motor to T'; the preset torque T head is less than the rated torque of the head motor and the tail motor determining that T' is greater than the preset torque T head when the torque of the tail motor required for the scraper conveyor to maintain the preset running speed is T" head when the torque of the tail motor required for the scraper conveyor to maintain the preset running speed is T" determining that T" is less than the preset torque T head adjusting the torque of the nose motor to T head and adjusting the torque of the tail motor to T".

2. The power coordination control method for scraper conveyors according to claim 1, characterized in that, Also includes: determining that T" is not less than a preset torque T head When T" is less than T, the torque of the nose motor is adjusted to be equal to the torque of the tail motor.

3. The power coordination control method for scraper conveyors according to claim 1, characterized in that, In the no-load operation state, adjusting the bottom chain to a preset sagging state includes: Gradually increase the torque of the head motor and decrease the torque of the tail motor until the bottom chain at the head is in the preset drooping state.

4. The power coordination control method for scraper conveyors according to claim 1, characterized in that, Before adjusting the bottom chain to the preset sagging state during the no-load operation, the following steps are also included: The automatic tensioning device is controlled to keep the scraper chain taut.

5. The power coordination control method for scraper conveyors according to claim 1, characterized in that, The preset torque T head Greater than the T head_min Wherein, T head_min The torque of the head motor obtained when the bottom chain is adjusted to the preset sag state in the no-load running state.

6. The power coordination control method for scraper conveyors according to claim 1, characterized in that, The preset torque T head It shall not exceed 85% of the rated torque of the head motor.

7. A power coordination control system for a scraper conveyor, characterized in that, include: The acquisition module is suitable for acquiring the torque of the head motor and tail motor. When the bottom chain is in a preset drooping state, the torque of the head motor is acquired as T. head_min The torque of the tail motor is T tail_min ; The processing module is used to calculate the torque T of the tail motor based on the load under load conditions. tail_min At that time, the torque T' required by the head motor of the scraper conveyor to maintain the preset operating speed; The control module is used to control the torque of the head motor and tail motor, ensuring that T' does not exceed the preset torque T. head At that time, adjust the torque of the tail motor to T. tail_min Adjust the torque of the machine head motor to T'; ensure that T' is greater than the preset torque T. head At that time, the torque of the machine head motor is calculated based on the load as T. head At that time, the torque T" required by the tail motor of the scraper conveyor to maintain the preset operating speed; determine that T" is less than the preset torque T. head At that time, adjust the torque of the machine head motor to T. head And adjust the torque of the tail motor to T".

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the scraper conveyor power coordination control method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the scraper conveyor power coordination control method as described in any one of claims 1 to 6.

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