Electrical control method, device and electronic equipment for coal mining machine towing cable system

Abstract

The present application relates to the field of tension control technology, and specifically to an electrical control method, device and electronic equipment for a shearer cable system, the method comprising: collecting the moving speed of the shearer, the cutting speed of the shearer cutter, the tension data of the towing device and the setting value of the cutting speed at different collection times during the operation of the shearer, and dividing the working time period of the shearer; marking the target collection time, obtaining the relative difference of the adjusted cutting speed at the target collection time; completing the tension data control at the first collection time of the shearer working time period; marking the collection time to be analyzed, and completing the tension data control at all collection times except the first collection time in the working time period of the shearer according to the difference between the moving speed, cutting speed and tension data at the corresponding collection time, and adjusting the relative difference of the cutting speed. The present application solves the problem that the shearer's working is unstable due to the unreasonable tension value of the towing device of the shearer.

Description

Technical Field

[0001] The present application relates to the technical field of tension control, and in particular to an electrical control method, device and electronic equipment for a coal mining machine towing cable system. Background Art

[0002] The shearer cable system uses the towing equipment to protect and tow the power cables of the working face in the mine production. During the coal mining process, the shearer is connected to the mobile substation in the working face chute through cables to obtain power, and walks on the working face to cut the coal wall. At the same time, due to the constraints of the cable clamp on the cable, the cable clamp will also be controlled by the towing equipment during the shearer's walking and cutting the coal wall, and will move with the movement of the shearer due to the cable towing.

[0003] In the process of the cable clamp being controlled and moved by the hauling device, the tension value of the hauling device of the coal mining machine has a direct impact on the working efficiency and safety of the coal mining machine. When the tension value of the hauling device is too large, the cable is easily damaged by hauling, causing the coal mining machine to lose power and stop working, affecting the high-yield, efficient and safe production of the coal mining machine; when the tension value of the hauling device is too small, it may cause the coal mining machine to move unstably on the working face or cause the hauling device to slip, and it cannot effectively push the coal mining machine, reducing the working efficiency of the coal mining machine. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of this application is to provide an electrical control method, device and electronic equipment for a coal mining machine towing cable system. The technical solutions adopted are as follows:

[0005] In a first aspect, an embodiment of the present application provides an electrical control method for a shearer cable system, the method comprising the following steps:

[0006] Collect the moving speed of the shearer, the cutting speed of the shearer cutter, the tension data of the hauling device and the setting value of the cutting speed at different collection times during the operation of the shearer, and divide all the collection times into different working time periods of the shearer according to the difference in the value of the moving speed;

[0007] Record any collection moment during the operation of the coal mining machine as the target collection moment, obtain the relative difference of the cutting speed at the target collection moment according to the difference between the cutting speed at the target collection moment and the cutting speed setting value, and obtain the relative difference of the adjusted cutting speed at the target collection moment according to the difference between the cutting speeds at adjacent collection moments of the target collection moment and the difference between the relative differences of the cutting speeds;

[0008] According to the values ​​and occurrence frequencies of the tension data of the hauling device at all acquisition moments in all coal mining machine working time periods, the characteristic working time period of the coal mining machine working time period is obtained and the tension data control at the first acquisition moment of the coal mining machine working time period is completed;

[0009] Any collection moment except the first collection moment in the coal mining machine working time period is recorded as the collection moment to be analyzed. According to the differences between the moving speed, cutting speed and tension data of the coal mining machine working time period to be analyzed and the collection moments corresponding to the characteristic working time period, as well as the relative difference in the adjusted cutting speed at the collection moment to be analyzed, the tension data control of the collection moment to be analyzed is completed.

[0010] Furthermore, according to the difference in the values ​​of the moving speed, all the acquisition moments are divided into different coal mining machine working time periods, and the specific process of obtaining is:

[0011] Starting from the first collection moment of the operation process of the coal mining machine, the moving speed of each collection moment is compared with the number 0 in the order of time. When the moving speed is equal to the number 0, the collection moment is recorded as the first interval moment. When the movement directions of the coal mining machine at the previous collection moment and the next collection moment of the first interval moment are different, the first interval moment is recorded as the first division moment, and the time period divided by the first collection moment and the first division moment is recorded as a coal mining machine working time period;

[0012] Starting from the first division moment, the moving speed of each collection moment is compared with the number 0 in the order of time. When the moving speed is equal to the number 0, the collection moment is recorded as the second interval moment. When the moving directions of the coal mining machine at the previous collection moment and the next collection moment of the second interval moment are different, the second interval moment is recorded as the second division moment, and the time period divided by the first division moment and the second division moment is recorded as a coal mining machine working time period.

[0013] Repeat the above steps until all acquisition times are divided into different coal mining machine working time periods.

[0014] Furthermore, the relative difference of the cutting speed at the target acquisition moment is obtained by:

[0015] The absolute value of the difference between the cutting speed at the target acquisition time and the cutting speed setting value is recorded as the first absolute value at the target acquisition time, and the ratio of the first absolute value at the target acquisition time to the cutting speed is recorded as the relative difference in the cutting speed at the target acquisition time.

[0016] Further, the adjustment cutting speed relative difference at the target acquisition moment is obtained according to the difference between the cutting speeds at adjacent acquisition moments at the target acquisition moment and the difference between the cutting speed relative differences. The specific process of obtaining is:

[0017] The first preset threshold collection time which is centered on the target collection time and is closest to the target collection time in time is recorded as the adjacent time of the target collection time;

[0018] When the cutting speed at the target acquisition moment is less than the cutting speed at the next acquisition moment after the target acquisition moment, the target acquisition moment is marked as a positive change; when the cutting speed at the target acquisition moment is greater than or equal to the cutting speed at the next acquisition moment after the target acquisition moment, the target acquisition moment is marked as a negative change;

[0019] Obtaining the local resistance influence degree at the target acquisition moment according to the difference between the relative differences of the cutting speeds at all adjacent moments at the target acquisition moment and the marks of all adjacent moments at the target acquisition moment;

[0020] According to the local resistance influence and the relative difference of cutting speed at the target acquisition moment, the relative difference of adjusted cutting speed at the target acquisition moment is determined, and the relative difference of adjusted cutting speed at the target acquisition moment is positively correlated with the relative difference of cutting speed at the target acquisition moment, and negatively correlated with the local resistance influence at the target acquisition moment.

[0021] Further, the local resistance influence degree at the target acquisition moment is obtained according to the difference between the relative differences of the cutting speeds at all adjacent moments of the target acquisition moment and the marks of all adjacent moments of the target acquisition moment. The specific process of obtaining is:

[0022] The ratio of the mean to the variance of the relative differences in cutting speeds at all adjacent moments of the target acquisition moment is recorded as the local resistance fluctuation at the target acquisition moment. The ratio of the number of positive changes in all adjacent moments of the target acquisition moment to the number of all adjacent moments of the target acquisition moment is recorded as the first ratio of the target acquisition moment. The product of the local resistance fluctuation at the target acquisition moment and the first ratio is recorded as the local resistance influence at the target acquisition moment.

[0023] Further, according to the values ​​and occurrence frequencies of the tension data of the hauling device at all acquisition moments in all coal mining machine working time periods, the characteristic working time period of the coal mining machine working time period is obtained and the tension data control at the first acquisition moment of the coal mining machine working time period is completed. The specific process of obtaining is:

[0024] The mode of the tension data of the hauling device at all sampling moments during the working time period of the coal mining machine is recorded as the characteristic tension data of the working time period of the coal mining machine;

[0025] Record other shearer working time periods having the same characteristic tension data as the shearer working time period at the collection time to be analyzed as characteristic working time periods of the shearer working time period;

[0026] The mean value of all tension data of all characteristic working time periods of the coal mining machine working time period is recorded as the tension data control value of the first collection moment of the coal mining machine working time period, thereby completing the tension data control of the first collection moment of the coal mining machine working time period.

[0027] Further, according to the difference between the moving speed, cutting speed, and tension data at the collection time corresponding to the working time period of the coal mining machine at the collection time to be analyzed and the characteristic working time period, and the relative difference of the adjusted cutting speed at the collection time to be analyzed, the tension data control at the collection time to be analyzed is completed, and the specific process of obtaining is:

[0028] The absolute value of the difference between the moving speed, cutting speed, and tension data at the collection time to be analyzed and the corresponding data at the collection time corresponding to the characteristic working time period of the coal mining machine working time period where the collection time to be analyzed is recorded as the first cumulative sum of the collection time to be analyzed, and the exponential power with the opposite number of the first cumulative sum of the collection time to be analyzed as the exponent and the natural data as the base is recorded as the first exponential power of the collection time to be analyzed;

[0029] The ratio of the first exponential power at the acquisition time to be analyzed to the relative difference of the adjusted cutting speed is recorded as the second ratio at the acquisition time to be analyzed;

[0030] The cumulative sum of the second ratios of all the acquisition moments included in the coal mining machine working time period where the acquisition moment to be analyzed is located is recorded as the working time period similarity between the coal mining machine working time period where the acquisition moment to be analyzed is located and the characteristic working time period;

[0031] According to the similarity of the working time periods, the tension data control is completed for each collection moment except the first collection moment of the working time period of the coal mining machine.

[0032] Furthermore, the tension data control at the time of collection to be analyzed is completed according to the similarity of the working time period, and the specific process of obtaining is:

[0033] The characteristic tension data of the characteristic working time period corresponding to the maximum value of the similarity between the coal mining machine working time period at the collection moment to be analyzed and the working time period of all characteristic working time periods is used as the tension data control value at the collection moment to be analyzed, thereby completing the tension data control at the collection moment to be analyzed.

[0034] In a second aspect, an embodiment of the present application provides an electrical control device for a shearer cable system, the electrical control device comprising: a shearer data acquisition module, a data impact evaluation module, a first control module, and a second control module;

[0035] The coal mining machine data collection module is used to collect the coal mining machine's moving speed, the cutting speed of the coal mining machine's cutter, the tension data of the hauling device and the cutting speed setting value at different collection times during the operation of the coal mining machine. According to the difference in the value of the moving speed, all the collection times are divided into different coal mining machine working time periods;

[0036] The data impact evaluation module is used to record any collection moment during the operation of the coal mining machine as the target collection moment, obtain the relative difference of the cutting speed at the target collection moment according to the difference between the cutting speed at the target collection moment and the cutting speed setting value, and obtain the relative difference of the adjusted cutting speed at the target collection moment according to the difference between the cutting speeds at adjacent collection moments of the target collection moment and the difference between the relative differences of the cutting speeds;

[0037] The first control module is used to obtain the characteristic working time period of the coal mining machine working time period and complete the tension data control at the first collecting moment of the coal mining machine working time period according to the value and frequency of the tension data of the hauling device at all collecting moments in all the coal mining machine working time periods;

[0038] The second control module is used to record any collection moment except the first collection moment in the coal mining machine working time period as the collection moment to be analyzed, and complete the tension data control of the collection moment to be analyzed based on the difference between the moving speed, cutting speed, and tension data of the coal mining machine working time period to be analyzed and the collection moment corresponding to the characteristic working time period, as well as the relative difference in the adjusted cutting speed at the collection moment to be analyzed.

[0039] In the third aspect, an embodiment of the present application also provides an electrical control electronic device for a coal mining machine towing cable system, the electrical control electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the steps of any one of the above methods when executing the computer program.

[0040] It can be seen from the above embodiments that the electrical control method, device and electronic equipment of the coal mining machine cable system provided by the embodiments of the present application have at least the following beneficial effects:

[0041] The present application divides the operation process of the coal mining machine into different working time periods of the coal mining machine according to the working characteristics of the coal mining machine repeatedly cutting the coal seam along the coal seam for many times, evaluates the possibility that the cutting speed at the target collection time is noise according to the difference between the cutting speed at the target collection time and the cutting speed setting value, obtains the relative difference of the cutting speed at the collection time, in order to avoid the problem that the relative difference of the cutting speed at the collection time with greater resistance is too large, so that the cutting speed collected at the collection time with greater resistance is misjudged as noise, further combined with the difference between the relative differences of the cutting speeds in the adjacent moments of the target collection time, obtains a more accurate evaluation of the degree of deviation of the cutting speed from the cutting speed setting value; further, firstly, according to the value and frequency of occurrence of the tension data of the traction device at all collection times in all the working time periods of the coal mining machine, completes the tension data control at the first collection time in the working time period of the coal mining machine, and then analyzes the other collection times respectively to determine the tension data control value at the collection time, completes the tension data control at any collection time except the first collection time in the working time period of the coal mining machine, and solves the problem that the unreasonable tension value of the traction device of the coal mining machine causes the unstable operation of the coal mining machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 A flowchart of a method for controlling an electrical system of a shearer cable provided in accordance with an embodiment of the present application;

[0044] Figure 2 A schematic diagram of cutting speed variation provided for one embodiment of the present application;

[0045] Figure 3 A schematic structural diagram of an electrical control device for a coal mining machine towing cable system provided in one embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to further explain the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the following is a detailed description of the electrical control method, device and electronic equipment of a coal mining machine cable system proposed in the present application, its specific implementation method, structure, features and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0047] The specific scheme of the electrical control method, device and electronic equipment of the coal mining machine towing cable system provided by the present application is described in detail below with reference to the accompanying drawings.

[0048] See also Figure 1 , which shows a flowchart of a method for electrical control of a shearer cable system provided by an embodiment of the present application, the method comprising the following steps:

[0049] S001: Collect the moving speed of the coal mining machine, the cutting speed of the coal mining machine cutter, the tension data of the hauling device and the cutting speed setting value at different collection times during the operation of the coal mining machine, and divide all the collection times into different working time periods of the coal mining machine according to the difference in the value of the moving speed.

[0050] The operation data of the coal mining machine during operation is read through the automatic control system of the coal mining machine, and the operation data includes the moving speed of the coal mining machine and the cutting speed of the coal mining machine cutter cutting the coal seam. A tension sensor is set on the hauling device, and the tension sensor is used to collect the tension data of the hauling device.

[0051] Among them, when the coal mining machine starts working, the collection of moving speed, cutting speed and tension data begins. The collection time and collection time interval of the moving speed, cutting speed and tension data are the same. In one embodiment of the present application, the collection time interval of the moving speed, cutting speed and tension data is 20 milliseconds. In actual application, as other implementation methods, the implementer can decide the value of the collection time interval according to the actual situation, and this application does not impose any special restrictions.

[0052] It is understandable that at different acquisition moments during the operation of the coal mining machine, the tool cutting speed has a corresponding set value. At each acquisition moment, the set value corresponding to the tool cutting speed is read by the coal mining machine's automatic control system, and the set value is recorded as the cutting speed set value. At the same time, since there is a large resistance in the coal seam when the coal mining machine cuts the coal seam, the cutting speed set value and the cutting speed at the same acquisition moment are different, and the cutting speed is significantly less than the cutting speed set value.

[0053] When the coal mining machine starts to work, it starts to move from a standstill. Therefore, the moving speed of the coal mining machine at the first collection moment is 0. At the same time, the coal mining machine will cut the coal seam repeatedly along the coal seam, so the operation process of the coal mining machine is divided into time periods according to the moving speed of the coal mining machine. Starting from the first collection moment of the operation process of the coal mining machine, the moving speed of each collection moment is compared with the number 0 in chronological order. When the moving speed is equal to the number 0, the collection moment is recorded as the first interval moment, and the moving directions of the coal mining machine at the previous collection moment and the next collection moment of the first interval moment are compared. When the two moving directions are different, the first interval moment is recorded as the first division moment, and the time period divided by the first collection moment and the first division moment is recorded as a coal mining machine working time period. Then, starting from the first division moment, the moving speed of each collection moment is compared with the number 0 in chronological order. When the moving speed is equal to the number 0, the collection moment is recorded as the second interval moment. The moving directions of the coal mining machine at the previous collection moment and the next collection moment of the second interval moment are compared. When the two moving directions are different, the second interval moment is recorded as the second division moment. The time period divided by the first division moment and the second division moment is recorded as a coal mining machine working time period. Repeat the above steps until all collection moments are divided into different coal mining machine working time periods.

[0054] It can be understood that the remaining collection moments that cannot be divided into the coal mining machine working time period are directly divided into the same coal mining machine working time period; the direction in which the coal mining machine starts working is taken as the positive direction of the coal mining machine's moving speed, that is, when the coal mining machine works in the direction in which it starts working, the moving speed of the coal mining machine is a positive number, and when the coal mining machine works in the direction opposite to the direction in which it starts working, the moving speed of the coal mining machine is a negative number, which is the opposite of the moving speed of the collected coal mining machine. Therefore, when comparing the moving directions of two different collection moments, it is only necessary to compare whether the signs of the moving directions of the two different collection moments are consistent. When the two signs are one positive and one negative, the two moving directions are different.

[0055] It should be noted that in the same coal mining machine working time period, the cutting speed setting values ​​at all collection moments are the same; when dividing the first interval moment, if the two moving directions are the same, the first division moment cannot be determined, and the coal mining machine working time period is not determined. For other coal mining machine working time periods, only the cases with two different moving directions are analyzed and divided.

[0056] At this point, the working time of the coal mining machine in each coal mining machine is obtained.

[0057] S002: Record any collection moment during the operation of the coal mining machine as the target collection moment, and obtain the relative difference in cutting speed at the target collection moment based on the difference between the cutting speed at the target collection moment and the cutting speed setting value; and obtain the adjusted relative difference in cutting speed at the target collection moment based on the difference between the cutting speeds at adjacent collection moments of the target collection moment and the difference between the relative differences in cutting speeds.

[0058] The absolute value of the difference between the cutting speed at the same acquisition moment and the cutting speed setting value is recorded as the first absolute value at the same acquisition moment, and the ratio of the first absolute value at the same acquisition moment to the cutting speed is recorded as the relative difference of the cutting speed at the same acquisition moment.

[0059] The greater the difference between the cutting speed at the same acquisition moment and the cutting speed setting value, the greater the relative difference of the cutting speed at this acquisition moment, and the more obvious the deviation of the cutting speed at this time from the cutting speed setting value. Therefore, the greater the possibility that the cutting speed at this acquisition moment is noise.

[0060] However, when the coal mining machine is cutting the coal seam at the working face during operation, the mineral composition, structure, stress conditions, thickness and inclination of the coal seams at different locations may be different. Therefore, the resistance at different acquisition times is also different, resulting in differences in the cutting speeds collected at different acquisition times. This can easily lead to a large relative difference in the cutting speed at the acquisition time with greater resistance, causing the cutting speed collected at the acquisition time with greater resistance to be misjudged as noise. Therefore, in order to avoid misjudgment of noise data, the data collected at different acquisition times are combined for further analysis.

[0061] Cutting speed change diagram Figure 2 As shown. Figure 2 In the figure, the horizontal axis is the acquisition time in seconds, the vertical axis is the cutting speed in meters per second, and the characteristic cutting speed is a fixed constant value. Due to the difference in resistance at different acquisition times, the cutting speed collected at different acquisition times is also different. Due to the difference in resistance at different acquisition times, the cutting speed may suddenly decrease sharply, drop to a certain limit value, and then increase again, corresponding to Figure 2 The cutting speed changes in the 40-50 second period; when the resistance difference at different acquisition times is small, the cutting speed will also fluctuate around a fixed constant value. Figure 2 In , the feature cutting speed is a fixed constant value around which the floating variation occurs.

[0062] Although there are differences in the resistance at different acquisition moments, there is often a resistance change process between adjacent acquisition moments, that is, the acquisition moments at which the cutting speed deviates significantly from the cutting speed setting value due to the large resistance should be continuous, and the cutting speed differences at these acquisition moments are relatively small.

[0063] Any collection moment during the operation of the coal mining machine is recorded as the target collection moment, and the first preset threshold collection moment centered on the target collection moment and closest to the target collection moment in time is recorded as the adjacent moment of the target collection moment. When the cutting speed at the target collection moment is less than the cutting speed at the next collection moment after the target collection moment, the target collection moment is marked as a positive change; when the cutting speed at the target collection moment is greater than or equal to the cutting speed at the next collection moment after the target collection moment, the target collection moment is marked as a negative change.

[0064] It should be noted that the last collection moment is directly marked as a positive change; in this embodiment, the value of the first preset threshold is 11; when the target collection moment cannot obtain the corresponding adjacent moment, the first preset threshold collection moment that is closest to the target collection moment in time is recorded as the adjacent moment of the target collection moment.

[0065] The local resistance influence degree at the target acquisition moment is obtained according to the difference between the relative differences of the cutting speeds at all adjacent moments of the target acquisition moment and the marks of all adjacent moments of the target acquisition moment.

[0066] Preferably, as an embodiment of the present application, the ratio of the mean to the variance of the relative differences in cutting speeds at all adjacent moments to the target acquisition moment is recorded as the local resistance fluctuation at the target acquisition moment, the ratio of the number of positive changes marked in all adjacent moments to the target acquisition moment to the number of all adjacent moments to the target acquisition moment is recorded as the first ratio of the target acquisition moment, and the product of the local resistance fluctuation at the target acquisition moment and the first ratio is recorded as the local resistance influence at the target acquisition moment.

[0067] The same method can be used to obtain the influence of local resistance at any sampling moment during the operation of the coal mining machine.

[0068] Specifically, the calculation formula for the influence of local resistance at any sampling time during the operation of the coal mining machine is:

[0069]

[0070] In the formula, Indicates the first The influence of local resistance at each acquisition moment; Indicates the first The mean of the relative differences in cutting speeds at all adjacent moments of a collection moment; Indicates the first The variance of the relative difference of cutting speed at all adjacent moments of a collection moment; Indicates the first The number of positive changes marked in all adjacent moments of a collection moment; Indicates the first The number of all adjacent moments of a collection moment.

[0071] in, Indicates the first The local resistance fluctuation at each acquisition moment, Indicates the first The first ratio of the acquisition moments.

[0072] In actual application, as another implementation method, the product of the local resistance fluctuation at the target acquisition time and the first ratio is used as an exponent, and the exponential power with a natural constant as the base is recorded as the local resistance influence at the target acquisition time.

[0073] When the influence of the local resistance at the target acquisition moment is greater, the possibility of being interfered by noise at the target acquisition moment is smaller, and the possibility of the cutting speed being misjudged as noise is smaller.

[0074] Furthermore, the relative difference in cutting speed adjustment at the target acquisition moment is determined according to the local resistance influence at the target acquisition moment and the relative difference in cutting speed. The relative difference in cutting speed adjustment at the target acquisition moment is positively correlated with the relative difference in cutting speed at the target acquisition moment, and negatively correlated with the local resistance influence at the target acquisition moment.

[0075] Preferably, as an embodiment of the present application, the ratio of the relative difference in cutting speed at the target acquisition moment to the influence of the local resistance is recorded as the adjusted relative difference in cutting speed at the target acquisition moment.

[0076] In the process of calculating the ratio, in order to avoid the situation where the denominator is zero, a preset value needs to be added to the denominator, and an embodiment of the preset value is 0.01.

[0077] The same method can be used to obtain the relative difference in the adjusted cutting speed at any acquisition moment during the operation of the coal mining machine.

[0078] Specifically, the calculation formula for adjusting the relative difference of the cutting speed at any collection moment during the operation of the coal mining machine is:

[0079]

[0080] In the formula, Indicates the first Relative difference in adjusted cutting speed at each acquisition moment; Indicates the first The influence of local resistance at each acquisition moment; Indicates the first Relative differences in cutting speed at each acquisition moment; Represents the first tuning parameter coefficient. In this embodiment, the value of the first tuning parameter coefficient is 0.01.

[0081] In actual application, as other implementation methods, the power with the opposite number of the local resistance influence degree at the target acquisition time as the exponent and the natural constant as the base is recorded as the first power value of the target acquisition time, and the product of the first power value at the target acquisition time and the relative difference of the cutting speed at the target acquisition time is recorded as the adjusted relative difference of the cutting speed at the target acquisition time.

[0082] The greater the relative difference in cutting speed at the target acquisition moment and the smaller the influence of local resistance, the greater the relative difference in adjusted cutting speed at the target acquisition moment. At this time, the more obvious the deviation of the cutting speed from the cutting speed setting value is, the greater the possibility that the cutting speed at the target acquisition moment is noise.

[0083] At this point, the relative difference of the adjusted cutting speed at any acquisition moment during the operation of the coal mining machine is obtained.

[0084] S003: Based on the values ​​and occurrence frequencies of the tension data of the hauling device at all sampling moments within all coal mining machine working time periods, the characteristic working time periods of the coal mining machine working time periods and the control of the tension data at the first sampling moment of the coal mining machine working time period are completed.

[0085] The mode of the tension data of the hauling device at all sampling moments during the working time period of the coal mining machine is recorded as the characteristic tension data of the working time period of the coal mining machine.

[0086] It should be noted that when the number of times the tension data of the towing device at all sampling moments within the working time period of the coal mining machine appears is 1, there is no mode, and the mean of the tension data of the towing device at all sampling moments within the working time period of the coal mining machine is recorded as the characteristic tension data of the coal mining machine working time period.

[0087] It is understandable that the characteristic tension data of different coal mining machine working time periods may be equal. For example, when the characteristic tension data of 5 different coal mining machine working time periods are all equal, the value of the characteristic tension data corresponds to the 5 coal mining machine working time periods. All coal mining machine working time periods corresponding to each value of the characteristic tension data are counted.

[0088] Other shearer working time periods with the same characteristic tension data as the shearer working time period at the collection moment to be analyzed are recorded as characteristic working time periods of the shearer working time period. The mean value of all tension data of all characteristic working time periods of the shearer working time period is recorded as the tension data control value of the first collection moment of the shearer working time period, and the tension data control of the first collection moment of the shearer working time period is completed.

[0089] At this point, the tension data control at the first collection moment of the coal mining machine's working time period is completed.

[0090] S004: Any collection moment except the first collection moment in the coal mining machine working time period is recorded as the collection moment to be analyzed, and the tension data of the collection moment to be analyzed is controlled according to the difference between the moving speed, cutting speed and tension data of the coal mining machine working time period to be analyzed and the collection moment corresponding to the characteristic working time period, as well as the relative difference of the adjusted cutting speed at the collection moment to be analyzed.

[0091] Any collection time except the first collection time in the coal mining machine working time period is recorded as the collection time to be analyzed.

[0092] According to the differences between the moving speed, cutting speed, and tension data of the coal mining machine working time period at the collection time to be analyzed and the characteristic working time period at the corresponding collection time, as well as the relative difference in the adjusted cutting speed at the collection time to be analyzed, the similarity between the working time period of the coal mining machine at the collection time to be analyzed and the characteristic working time period is obtained.

[0093] Preferably, as an embodiment of the present application, the sum of the absolute values ​​of the differences between the moving speed, cutting speed, and tension data at the collection moment to be analyzed and the corresponding data at the corresponding collection moment in the characteristic working time period of the coal mining machine working time period where the collection moment to be analyzed is located is recorded as the first cumulative sum of the collection moment to be analyzed, and the exponential power with the opposite of the first cumulative sum of the collection moment to be analyzed as the exponent and the natural data as the base is recorded as the first exponential power of the collection moment to be analyzed. The ratio of the first exponential power of the collection moment to be analyzed and the relative difference of the adjusted cutting speed is recorded as the second ratio of the collection moment to be analyzed. The cumulative sum of the second ratios of all collection moments contained in the coal mining machine working time period where the collection moment to be analyzed is located is recorded as the working time period similarity between the coal mining machine working time period where the collection moment to be analyzed is located and the characteristic working time period.

[0094] Specifically, the calculation formula for the similarity between the working time period of the coal mining machine at the time of collection to be analyzed and the working time period of the characteristic working time period is:

[0095]

[0096] In the formula, Indicates The coal mining machine working time period of the collection time to be analyzed is Similarity of working time periods for characteristic working time periods; Indicates The number of collection moments included in the coal mining machine working time period where the collection moment to be analyzed is located; Indicates The coal mining machine working time period where the collection time to be analyzed is included in the The first collection time types of data values, among which, , the first type of data is the moving speed of the coal mining machine, the second type of data is the cutting speed of the coal mining machine cutter, and the third type of data is the tension data of the hauling device; Indicates The first time period of the coal mining machine working time where the collection time to be analyzed is The characteristic working time period includes The data value of the zth category at the collection time; represents an exponential function with a natural constant as base; Indicates the first The relative difference in the adjusted cutting speed at the acquisition moments to be analyzed.

[0097] The smaller the difference between the moving speed, cutting speed and tension data of the coal mining machine working time period at the collection moment to be analyzed and the corresponding collection moment of the characteristic working time period is, the greater the relative difference of the adjusted cutting speed at the collection moment to be analyzed is, the greater the similarity between the working time period of the coal mining machine at the collection moment to be analyzed and the characteristic working time period is. At this time, the closer the working state of the coal mining machine working time period at the collection moment to be analyzed is to the characteristic working time period, the better the effect of controlling the tension data at the collection moment within the coal mining machine working time period is when the tension data of the characteristic working time period is used as the tension data control value.

[0098] It is understandable that since the characteristic tension data of different coal mining machine working time periods may be equal, there may be multiple characteristic working time periods of the coal mining machine working time period, and the coal mining machine working time period at the time of collection to be analyzed has a corresponding working time period similarity with each characteristic working time period.

[0099] The maximum value of the similarity between the working time period of the coal mining machine at the collection moment to be analyzed and the working time period of all characteristic working time periods is selected, and the characteristic tension data of the characteristic working time period corresponding to the maximum value is used as the tension data control value of the collection moment to be analyzed, so as to complete the tension data control of any collection moment except the first collection moment of the coal mining machine working time period.

[0100] At this point, the tension data control at all acquisition moments during the coal mining machine's working time period is completed.

[0101] See also Figure 3 , Figure 3 1 is a schematic diagram of the structure of an electrical control device for a shearer cable system provided by an embodiment of the present application. In this embodiment, the device includes various units for executing various steps in an embodiment corresponding to an electrical control method for a shearer cable system. Figure 3 The electrical control device includes: a coal mining machine data acquisition module, a data impact evaluation module, a first control module, and a second control module.

[0102] The coal mining machine data collection module is used to collect the coal mining machine's moving speed, the cutting speed of the coal mining machine's cutter, the tension data of the hauling device and the cutting speed setting value at different collection times during the operation of the coal mining machine. According to the difference in the value of the moving speed, all the collection times are divided into different coal mining machine working time periods;

[0103] The data impact evaluation module is used to record any collection moment during the operation of the coal mining machine as the target collection moment, obtain the relative difference of the cutting speed at the target collection moment according to the difference between the cutting speed at the target collection moment and the cutting speed setting value, and obtain the relative difference of the adjusted cutting speed at the target collection moment according to the difference between the cutting speeds at adjacent collection moments of the target collection moment and the difference between the relative differences of the cutting speeds;

[0104] The first control module is used to obtain the characteristic working time period of the coal mining machine working time period and complete the tension data control at the first collecting moment of the coal mining machine working time period according to the value and frequency of the tension data of the hauling device at all collecting moments in all the coal mining machine working time periods;

[0105] The second control module is used to record any collection moment except the first collection moment in the coal mining machine working time period as the collection moment to be analyzed, and complete the tension data control of the collection moment to be analyzed based on the difference between the moving speed, cutting speed, and tension data of the coal mining machine working time period to be analyzed and the collection moment corresponding to the characteristic working time period, as well as the relative difference in the adjusted cutting speed at the collection moment to be analyzed.

[0106] Based on the same inventive concept as the above method, an embodiment of the present application also provides an electrical control electronic device for a coal mining machine cable system, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of any one of the above-mentioned methods for electrical control of a coal mining machine cable system when executing the computer program.

[0107] It is to be understood that the sequence of the embodiments of the present application described above is for description only and does not represent the advantages and disadvantages of the embodiments. The above describes specific embodiments of the present specification. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0108] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0109] The above content is only an implementation method of the present application and is not intended to limit the scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the protection scope of the present application.

Claims

1. A method for electrical control of a coal mining machine cable system, characterized in that: The method comprises the following steps: Collect the moving speed of the shearer, the cutting speed of the shearer cutter, the tension data of the hauling device and the setting value of the cutting speed at different collection times during the operation of the shearer. According to the difference in the value of the moving speed, divide all the collection times into different working time periods of the shearer; Record any collection moment during the operation of the coal mining machine as the target collection moment, obtain the relative difference of the cutting speed at the target collection moment according to the difference between the cutting speed at the target collection moment and the cutting speed setting value, and obtain the relative difference of the adjusted cutting speed at the target collection moment according to the difference between the cutting speeds at adjacent collection moments of the target collection moment and the difference between the relative differences of the cutting speeds; According to the values ​​and occurrence frequencies of the tension data of the hauling device at all acquisition moments in all coal mining machine working time periods, the characteristic working time period of the coal mining machine working time period is obtained and the tension data control at the first acquisition moment of the coal mining machine working time period is completed; Any collection moment except the first collection moment in the coal mining machine working time period is recorded as the collection moment to be analyzed. According to the differences between the moving speed, cutting speed and tension data of the coal mining machine working time period to be analyzed and the collection moments corresponding to the characteristic working time period, as well as the relative difference in the adjusted cutting speed at the collection moment to be analyzed, the tension data control of the collection moment to be analyzed is completed.

2. The electrical control method of a coal mining machine cable system according to claim 1, characterized in that: According to the difference in the value of the moving speed, all the acquisition moments are divided into different coal mining machine working time periods, and the specific process of obtaining is: Starting from the first collection moment of the operation process of the coal mining machine, the moving speed of each collection moment is compared with the number 0 in the order of time. When the moving speed is equal to the number 0, the collection moment is recorded as the first interval moment. When the movement directions of the coal mining machine at the previous collection moment and the next collection moment of the first interval moment are different, the first interval moment is recorded as the first division moment, and the time period divided by the first collection moment and the first division moment is recorded as a coal mining machine working time period; Starting from the first division moment, the moving speed of each collection moment is compared with the number 0 in the order of time. When the moving speed is equal to the number 0, the collection moment is recorded as the second interval moment. When the moving directions of the coal mining machine at the previous collection moment and the next collection moment of the second interval moment are different, the second interval moment is recorded as the second division moment, and the time period divided by the first division moment and the second division moment is recorded as a coal mining machine working time period; Repeat the above steps until all acquisition times are divided into different coal mining machine working time periods.

3. The electrical control method of a coal mining machine cable system according to claim 1, characterized in that: The relative difference of cutting speed at the target acquisition moment is obtained by: The absolute value of the difference between the cutting speed at the target acquisition time and the cutting speed setting value is recorded as the first absolute value at the target acquisition time, and the ratio of the first absolute value at the target acquisition time to the cutting speed is recorded as the relative difference in the cutting speed at the target acquisition time.

4. The electrical control method of a coal mining machine cable system according to claim 1, characterized in that: According to the difference between the cutting speeds at adjacent collection moments of the target collection moment and the difference between the relative differences of the cutting speeds, the adjusted relative difference of the cutting speed at the target collection moment is obtained. The specific process of obtaining is: The first preset threshold collection time which is centered on the target collection time and is closest to the target collection time in time is recorded as the adjacent time of the target collection time; When the cutting speed at the target acquisition moment is less than the cutting speed at the next acquisition moment after the target acquisition moment, the target acquisition moment is marked as a positive change; when the cutting speed at the target acquisition moment is greater than or equal to the cutting speed at the next acquisition moment after the target acquisition moment, the target acquisition moment is marked as a negative change; Obtaining the local resistance influence degree at the target acquisition moment according to the difference between the relative differences of the cutting speeds at all adjacent moments at the target acquisition moment and the marks of all adjacent moments at the target acquisition moment; According to the local resistance influence and the relative difference of cutting speed at the target acquisition moment, the relative difference of adjusted cutting speed at the target acquisition moment is determined, and the relative difference of adjusted cutting speed at the target acquisition moment is positively correlated with the relative difference of cutting speed at the target acquisition moment, and negatively correlated with the local resistance influence at the target acquisition moment.

5. The electrical control method of a coal mining machine cable system according to claim 4, characterized in that: The specific process of obtaining the local resistance influence degree at the target acquisition moment is as follows: The ratio of the mean to the variance of the relative differences in cutting speeds at all adjacent moments of the target acquisition moment is recorded as the local resistance fluctuation at the target acquisition moment. The ratio of the number of positive changes in all adjacent moments of the target acquisition moment to the number of all adjacent moments of the target acquisition moment is recorded as the first ratio of the target acquisition moment. The product of the local resistance fluctuation at the target acquisition moment and the first ratio is recorded as the local resistance influence at the target acquisition moment.

6. The electrical control method for a coal mining machine cable system according to claim 1, characterized in that: According to the values ​​and occurrence frequencies of the tension data of the hauling device at all acquisition moments in all coal mining machine working time periods, the characteristic working time period of the coal mining machine working time period is obtained and the tension data control at the first acquisition moment of the coal mining machine working time period is completed. The specific process of obtaining is: The mode of the tension data of the hauling device at all sampling moments during the working time period of the coal mining machine is recorded as the characteristic tension data of the working time period of the coal mining machine; Record other shearer working time periods having the same characteristic tension data as the shearer working time period at the collection time to be analyzed as characteristic working time periods of the shearer working time period; The mean value of all tension data of all characteristic working time periods of the coal mining machine working time period is recorded as the tension data control value of the first collection moment of the coal mining machine working time period, thereby completing the tension data control of the first collection moment of the coal mining machine working time period.

7. The electrical control method of a shearer cable system according to claim 6, characterized in that: According to the difference between the moving speed, cutting speed, and tension data of the coal mining machine working time period at the time of collection to be analyzed and the collection time corresponding to the characteristic working time period, and the relative difference of the adjusted cutting speed at the time of collection to be analyzed, the tension data control at the time of collection to be analyzed is completed, and the specific process of obtaining is as follows: The absolute value of the difference between the moving speed, cutting speed, and tension data at the collection time to be analyzed and the corresponding data at the collection time corresponding to the characteristic working time period of the coal mining machine working time period where the collection time to be analyzed is recorded as the first cumulative sum of the collection time to be analyzed, and the exponential power with the opposite number of the first cumulative sum of the collection time to be analyzed as the exponent and the natural data as the base is recorded as the first exponential power of the collection time to be analyzed; The ratio of the first exponential power at the acquisition time to be analyzed to the relative difference of the adjusted cutting speed is recorded as the second ratio at the acquisition time to be analyzed; The cumulative sum of the second ratios of all the acquisition moments included in the coal mining machine working time period where the acquisition moment to be analyzed is located is recorded as the working time period similarity between the coal mining machine working time period where the acquisition moment to be analyzed is located and the characteristic working time period; According to the similarity of the working time periods, the tension data control is completed for each collection moment except the first collection moment of the working time period of the coal mining machine.

8. The electrical control method of a shearer cable system according to claim 7, characterized in that: According to the similarity of the working time period, the tension data control at the time of collection to be analyzed is completed, and the specific process of obtaining is: The characteristic tension data of the characteristic working time period corresponding to the maximum value of the similarity between the coal mining machine working time period at the collection moment to be analyzed and the working time period of all characteristic working time periods is used as the tension data control value at the collection moment to be analyzed, thereby completing the tension data control at the collection moment to be analyzed.

9. An electrical control device for a shearer cable system, implementing the method as claimed in claim 1, characterized in that: The electrical control device comprises: The coal mining machine data collection module is used to collect the coal mining machine's moving speed, the cutting speed of the coal mining machine's cutter, the tension data of the hauling device and the cutting speed setting value at different collection times during the operation of the coal mining machine. According to the difference in the value of the moving speed, all the collection times are divided into different coal mining machine working time periods; The data impact evaluation module is used to record any collection moment during the operation of the coal mining machine as the target collection moment, obtain the relative difference of the cutting speed at the target collection moment according to the difference between the cutting speed at the target collection moment and the cutting speed setting value, and obtain the relative difference of the adjusted cutting speed at the target collection moment according to the difference between the cutting speeds at adjacent collection moments of the target collection moment and the difference between the relative differences of the cutting speeds; The first control module is used to obtain the characteristic working time period of the coal mining machine working time period and complete the tension data control at the first collecting moment of the coal mining machine working time period according to the value and frequency of the tension data of the hauling device at all collecting moments in all the coal mining machine working time periods; The second control module is used to record any collection moment except the first collection moment in the coal mining machine working time period as the collection moment to be analyzed, and complete the tension data control of the collection moment to be analyzed based on the difference between the moving speed, cutting speed, and tension data of the coal mining machine working time period to be analyzed and the collection moment corresponding to the characteristic working time period, as well as the relative difference in the adjusted cutting speed at the collection moment to be analyzed.

10. An electrical control electronic device for a shearer cable system, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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