Control method and device, coal mining machine, readable storage medium and chip

Abstract

The invention provides a control method and device, a coal mining machine, a readable storage medium and a chip. The method comprises the following steps: acquiring a rated load of a cutting motor and target cutting specific energy consumption corresponding to the rated load; determining a load interval corresponding to the rated load; acquiring an actual load value of the cutting motor; under the condition that the actual load value is out of the load interval, the target traction speed is determined according to the running rotating speed of the roller and the target cutting specific energy consumption; and adjusting the moving speed of the traction part to the target traction speed. By means of the scheme, accurate matching of the cutting rotating speed and the traction speed can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining machines, and in particular to a control method, a device, a coal mining machine, a readable storage medium and a chip. Background Art

[0002] At present, the cutting part of the coal mining machine generally adopts fixed speed rotation, lacks flexible adjustment, and the adaptive control technology of the traction part is not yet mature. The traction speed is mostly manually controlled. This mode makes it difficult to achieve accurate matching of the cutting speed and the traction speed, affecting the coal mining efficiency and equipment safety. Summary of the invention

[0003] In order to solve or improve the problem that the cutting speed and the traction speed are difficult to match accurately, an object of the present invention is to provide a control method.

[0004] Another object of the present invention is to provide a control device.

[0005] Another object of the present invention is to provide a coal mining machine.

[0006] Another object of the present invention is to provide a readable storage medium.

[0007] Another object of the present invention is to provide a chip.

[0008] To achieve the above-mentioned objectives, the first aspect of the present invention provides a control method for a coal mining machine, the coal mining machine comprising a cutting part and a traction part for towing the cutting part to move, the cutting part comprising a drum and a cutting motor for driving the drum to rotate, the control method comprising: obtaining the rated load of the cutting motor and the target cutting ratio energy consumption corresponding to the rated load; determining the load range corresponding to the rated load; obtaining the actual load value of the cutting motor; when the actual load value is outside the load range, determining the target traction speed according to the operating speed of the drum and the target cutting ratio energy consumption; and adjusting the moving speed of the traction part to the target traction speed.

[0009] The control method provided by the present invention is mainly used for coal mining machines. The cutting part of the coal mining machine is composed of a drum and a cutting motor for driving the drum to rotate. The drum is a cylindrical cutting component installed on the coal mining machine, which is used to cut and crush coal and rock. Its surface is covered with cutting teeth and driven to rotate by the cutting motor. The cutting motor adopts a permanent magnet variable frequency speed regulating motor, which is connected to the drum through a transmission system to stably adjust the speed of the drum. The traction part is composed of a moving device, a traction motor and an intelligent control system. The traction part pulls the cutting part forward or backward, and the control system monitors the operating parameters of the cutting part and the traction part in real time, so as to adjust the moving speed of the traction part according to the load condition of the cutting part, and finally achieve accurate matching of the cutting speed and the traction speed.

[0010] The rated load of the cutting motor is the maximum load that the motor can continuously withstand under normal working conditions when in use, and is usually expressed in terms of the motor's rated power or rated current. The cutting specific energy consumption is the energy consumed when the cutting part cuts a unit of coal and rock. The value of the cutting specific energy consumption is usually set by the equipment operator to guide and monitor the energy consumption of the coal mining machine in actual operation to ensure that it can operate at the optimal energy consumption level. Since the cutting motor operates best under rated load, it is necessary to obtain the cutting specific energy consumption corresponding to the rated load, that is, the target cutting specific energy consumption, and set this value as the energy efficiency benchmark of the coal mining machine to ensure that the coal mining machine remains in the best operating condition during operation.

[0011] In actual work, the cutting motor will have a load range corresponding to the rated load. When the motor runs in this load range, it can be regarded as the motor is in the best working condition. It can be understood that when the cutting motor is in the load range corresponding to the rated load, the coal mining machine is also running in the best working condition, and no additional adjustment is required for the coal mining machine. However, when the load of the cutting motor suddenly increases, for example, when the coal mining machine runs from a soft coal seam to a hard coal seam, the load of the cutting motor will be greater than the upper limit of the load range. In order to prevent the cutting tool from rotating too fast and then being damaged, it is necessary to slow down the speed of the cutting part moving forward, that is, to reduce the moving speed of the traction part, thereby reducing the load of the cutting motor. When the load of the cutting motor suddenly decreases, for example, when the coal mining machine runs from a hard coal seam to a soft coal seam, the load of the cutting motor will be less than the lower limit of the load range. In order to prevent the working efficiency of the coal mining machine from decreasing, it is necessary to speed up the speed of the cutting part moving forward, that is, to speed up the moving speed of the traction part, thereby increasing the load of the cutting motor. When the load of the cutting motor is not within the load range, in order to keep the coal mining machine at its best working efficiency, that is, to keep it within the target cutting ratio energy consumption range, it is necessary to adjust the moving speed of the traction unit more accurately. It can be understood that, under the premise of determining the target cutting ratio energy consumption, by obtaining the rotation speed of the drum connected to the cutting motor and the relevant inherent parameters of the coal mining machine and the coal rock, the ideal moving speed of the traction unit, that is, the target traction speed, can be determined. After determining the target traction speed, the system controls the variable frequency speed regulation device of the traction motor so that the actual moving speed of the traction unit reaches the predetermined target speed, which can ultimately enable the cutting motor to operate within the optimal load range, stabilize the cutting thickness of the coal mining machine, and control the energy consumption within the target range.

[0012] It should be noted that the drum speed of most coal mining machines in the current industry is fixed, and the traction speed is mostly manually controlled, which cannot meet the demand for precise control of the drum speed and traction speed. In order to achieve this goal, the cutting motor of the present invention adopts a permanent magnet variable frequency speed regulation motor, so that the drum speed can be infinitely variable with the load; the traction motor adopts variable frequency speed regulation technology, and is adaptively adjusted to the drum speed through program control, so that the traction speed can follow the changes in the drum speed in real time. This adaptive adjustment mechanism ensures that under different working conditions, the traction speed can be automatically adjusted to the optimal state, thereby maintaining the cutting thickness of the coal mining machine stable and ensuring that the energy consumption is maintained within the predetermined target range.

[0013] In addition, the above technical solution provided by the present invention may also have the following additional technical features:

[0014] In some technical schemes, optionally, the rated load of the cutting motor and the target cutting energy consumption ratio corresponding to the rated load are obtained, specifically including: obtaining a first operating speed and a first moving speed corresponding to the rated load; obtaining mechanical parameters of the coal mining machine and geological parameters of the mining object of the coal mining machine, the mechanical parameters including the cutting tooth blade width and the number of cutting teeth arranged on the cutting line, and the geological parameters including coal cutting impedance and coal brittleness index; determining the target cutting energy consumption ratio corresponding to the rated load based on the first operating speed, the first moving speed, the mechanical parameters and the geological parameters.

[0015] In this technical solution, firstly, a first operating speed and a first moving speed corresponding to the rated load are obtained through advanced sensors and control systems, wherein the first operating speed is the speed of the drum connected to the cutting motor when the cutting motor is working under the rated load, and the first moving speed is the moving speed of the traction part when the cutting motor is working under the rated load.

[0016] The system then further collects the mechanical parameters of the coal mining machine and the geological parameters of the mining object (such as coal and rock). The mechanical parameters include the pick blade width and the number of picks arranged on the cutting line, where the pick blade width is the width of the part of the pick in contact with the coal rock when cutting the coal seam, and the cutting line is one or more imaginary cutting paths formed by the picks arranged along the rotation direction on the surface of the coal mining machine drum; the geological parameters include coal cutting resistance and coal brittleness index, where coal cutting resistance is the resistance generated by the coal seam when it is cut, similar to the "hardness" or "resistance" of the coal seam during the cutting process, and the coal brittleness index is the fragility or fragility of the coal seam when subjected to external force. These parameters reflect the physical properties of different coal seams.

[0017] By comprehensively analyzing the first operating speed, the first moving speed, and the acquired mechanical and geological parameters, the system can accurately calculate the target cutting ratio energy consumption corresponding to the rated load. This target value, as a benchmark for energy efficiency optimization, can guide the operation adjustment of the coal mining machine under different working conditions. It can be understood that when the coal mining machine faces coal seams of different hardness and brittleness, the system can automatically adjust the moving speed of the traction unit according to the target cutting ratio energy consumption to ensure that the energy consumption remains within the predetermined optimal range.

[0018] In some technical schemes, optionally, determining a load interval corresponding to the rated load includes: obtaining a first deviation ratio value and a second deviation ratio value of the load interval; determining an upper limit load value of the load interval based on the rated load and the first deviation ratio value; and determining a lower limit load value of the load interval based on the rated load and the second deviation ratio value.

[0019] In this technical solution, by obtaining the first deviation ratio value and the second deviation ratio value of the load interval, the upper and lower limits of the load interval can be determined. The first deviation ratio value corresponds to the maximum upward allowable deviation range of the cutting motor load based on the rated load, and the second deviation ratio value corresponds to the maximum downward allowable deviation range of the cutting motor load based on the rated load. For example, the first deviation ratio is set to 10%, the second deviation ratio is set to 5%, and the rated load (current: unit ampere) is 100, then the upper limit load value of the rated interval = rated load × (1 + first deviation ratio value), that is, 100 × (1 + 10%) = 100 × 1.10 = 110; the lower limit load value = rated load × (1-second deviation ratio value), that is, 100 × (1-5%) = 100 × 0.95 = 95, and the final load interval is (95-110).

[0020] In some technical solutions, optionally, the cutting motor is a permanent magnet variable frequency speed regulating motor, and when the actual load value is outside the load range, the target traction speed is determined according to the running speed of the drum and the target cutting ratio energy consumption, including: determining the cutting thickness corresponding to the cutting part according to the target cutting ratio energy consumption; determining the speed change of the drum; determining the traction speed change according to the cutting thickness, the speed change and the mechanical parameters; determining the target traction speed according to the traction speed change and the moving speed of the traction part.

[0021] In this technical solution, when the actual load value of the cutting motor is outside the load range, it is necessary to adjust the moving speed of the traction part so that the actual load value of the cutting motor returns to the load range as soon as possible. First, the cutting thickness h corresponding to the target cutting ratio energy consumption when the working energy consumption of the coal mining machine is the target cutting ratio energy consumption should be calculated based on the set target cutting ratio energy consumption, combined with the mechanical parameters of the coal mining machine and the geological parameters of the mining object. The cutting thickness is the depth of each cut when the coal mining machine cuts the coal seam. It is closely related to the rotation speed and traction speed of the drum. When the actual load value of the cutting motor is outside the load range, that is, when the cutting motor is underloaded or overloaded, in order to make the coal mining machine run smoothly and efficiently, the cutting thickness of the coal mining machine should also be kept near h by controlling the traction speed.

[0022] In each drum rotation cycle, the traction speed of the coal mining machine determines the advancement distance (i.e., linear displacement) of the pick on the drum surface in the coal seam, while the drum speed determines the number of times the pick cuts the coal seam per unit time. At a certain traction speed, when the drum speed is high, the number of drum rotations per unit time increases, resulting in a shallower cutting depth each time the pick cuts, i.e., a reduced cutting thickness; on the contrary, when the drum speed is low, the cutting depth of each rotation deepens and the cutting thickness increases. The traction speed determines the speed at which the coal mining machine advances. At a fixed drum speed, the faster the traction speed, the deeper the cutting depth of the pick on the coal seam and the greater the cutting thickness; when the traction speed slows down, the cutting thickness decreases. According to the formula for cutting thickness, when the cutting thickness is determined, the traction speed can be inverted based on the obtained drum speed, i.e., the traction speed is proportional to the drum speed, and the proportional coefficient is related to the arrangement density of the pick. It can be understood that after collecting the change in the rotation speed of the drum, the change in the traction speed can be determined according to the cutting thickness and the mechanical parameters of the coal mining machine, and finally the target traction speed can be calculated by superimposing the calculated change in traction speed and the obtained current moving speed of the traction part.

[0023] In some technical solutions, optionally, when the actual load value is outside the load range, before determining the target traction speed based on the operating speed of the drum and the target cutting ratio energy consumption, it also includes: judging whether the actual load value is within the load range; if the actual load value is within the load range, keeping the moving speed unchanged.

[0024] In this technical solution, before determining the target traction speed, it is necessary to first determine whether the actual load value of the cutting motor is within the load range. If the actual load is within the range, it means that the current traction speed and the drum speed have reached the ideal state. At this time, there is no need to adjust the moving speed. Keeping the coal mining machine running in this state can reduce unnecessary energy consumption. In addition, when the actual load is within the load range, the matching of cutting thickness and traction speed is also optimal. If the traction speed is adjusted in this state, it may cause the cutting thickness to change, affecting the working stability of the equipment.

[0025] In some technical solutions, optionally, the moving speed of the traction part is adjusted to the target traction speed, including: if the actual load value is less than the lower limit load value, the moving speed is increased according to the change in the traction speed until the moving speed reaches the target traction speed; if the actual load value is greater than the upper limit load value, the moving speed is reduced according to the change in the traction speed until the moving speed reaches the target traction speed.

[0026] In this technical solution, when the actual load value is less than the lower limit load value, it means that the current cutting thickness may be too small, resulting in insufficient load on the cutting motor, and the coal mining machine as a whole operates within a lower energy efficiency range. For this reason, the system will gradually increase the moving speed based on the "traction speed change", thereby increasing the cutting thickness and increasing the motor load to the expected optimal range. When the actual load value is greater than the upper limit load value, it indicates that the current load of the cutting motor is too large, which may be due to excessive cutting thickness or increased coal seam hardness, resulting in increased motor load, which will lead to increased energy consumption, excessive equipment load, and even overload risk. For this reason, the system is based on the "traction speed change" to gradually reduce the moving speed and reduce the motor load. It should be noted that during this process, the system will continue to monitor the changes in the actual load value and gradually adjust the traction speed to ensure that when the target traction speed is reached, the actual load value of the cutting motor returns to the load range, so that the coal mining machine can operate efficiently, and when the moving speed reaches the target traction speed, the system will stop operating to ensure that the coal mining machine can operate stably at this moving speed. It should be noted that when the system adjusts the moving speed of the traction unit, the change in the moving speed may be linear or nonlinear, depending on the specific control strategy and actual application scenario.

[0027] The second aspect of the present invention provides a control device for a coal mining machine, the coal mining machine includes a cutting part and a traction part for towing the cutting part to move, the cutting part includes a drum and a cutting motor for driving the drum to rotate, the control device includes: an acquisition module for acquiring the rated load of the cutting motor and the target cutting ratio energy consumption corresponding to the rated load; a parameter determination module for determining the load range corresponding to the rated load; the acquisition module is also used to acquire the actual load value of the cutting motor; a speed determination module for determining the target traction speed according to the running speed of the drum and the target cutting ratio energy consumption when the actual load value is outside the load range; an adjustment module for adjusting the moving speed of the traction part to the target traction speed.

[0028] The third aspect of the present invention provides a coal mining machine, comprising: a cutting part and a traction part for traction and movement of the cutting part, the cutting part comprising a drum and a cutting motor for driving the drum to rotate; and also comprising the control device mentioned in the above scheme.

[0029] On the other hand, the present invention provides a coal mining machine, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor, which implements the steps of the control method in any of the above technical solutions when the program or instruction is executed by the processor.

[0030] A fourth aspect of the present invention provides a readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the control method in any of the above technical solutions are implemented.

[0031] A fifth aspect of the present invention provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the steps of the control method in any of the above technical solutions.

[0032] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic flow chart of a control method according to an embodiment of the present invention is shown;

[0034] Figure 2 A schematic flow chart of a control method according to an embodiment of the present invention is shown;

[0035] Figure 3 A schematic flow chart of a control method according to an embodiment of the present invention is shown;

[0036] Figure 4 A schematic flow chart of a control method according to an embodiment of the present invention is shown;

[0037] Figure 5 A schematic flow chart of a control method according to an embodiment of the present application is shown;

[0038] Figure 6 A schematic flow chart of a control method according to an embodiment of the present application is shown;

[0039] Figure 7 A schematic diagram of the structure of a control device according to an embodiment of the present invention is shown;

[0040] Figure 8 A schematic diagram of a coal mining machine according to an embodiment of the present invention is shown;

[0041] Fig. 9 A schematic diagram of a coal mining machine according to an embodiment of the present invention is shown.

[0042] in, Figures 7 to 9 The corresponding relationship between the reference numerals and the component names is as follows:

[0043] 1000: coal mining machine; 1109: memory; 1110: processor; 900: control device; 901: acquisition module; 902: parameter determination module; 903: adjustment module; 904: speed determination module; 600: traction part; 601: traction motor; 602: moving device; 500: cutting part; 501: cutting motor; 502: drum; 700: connecting rod. DETAILED DESCRIPTION

[0044] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0045] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0046] Refer to the following Figures 1 to 9 The present invention describes a control method, a control device, a coal mining machine, a readable storage medium and a chip provided according to some embodiments of the present invention.

[0047] This embodiment provides a control method, such as Figure 1As shown, for a coal mining machine, the coal mining machine includes a cutting part and a traction part for towing the cutting part to move, the cutting part includes a drum and a cutting motor for driving the drum to rotate, and the control method includes: step S102: obtaining the rated load of the cutting motor and the target cutting ratio energy consumption corresponding to the rated load; step S104: determining the load range corresponding to the rated load; step S106: obtaining the actual load value of the cutting motor; step S108: when the actual load value is outside the load range, determining the target traction speed according to the operating speed of the drum and the target cutting ratio energy consumption; step S110: adjusting the moving speed of the traction part to the target traction speed.

[0048] The control method provided by the present invention is mainly used for coal mining machines. The cutting part of the coal mining machine is composed of a drum and a cutting motor for driving the drum to rotate. The drum is a cylindrical cutting component installed on the coal mining machine, which is used to cut and crush coal and rock. Its surface is covered with cutting teeth and driven to rotate by the cutting motor. The cutting motor adopts a permanent magnet variable frequency speed regulating motor, which is connected to the drum through a transmission system to stably adjust the speed of the drum. The traction part is composed of a moving device, a traction motor and an intelligent control system. The traction part pulls the cutting part forward or backward, and the control system monitors the operating parameters of the cutting part and the traction part in real time, so as to adjust the moving speed of the traction part according to the load condition of the cutting part, and finally achieve accurate matching of the cutting speed and the traction speed.

[0049] The rated load of the cutting motor is the maximum load that the motor can continuously withstand under normal working conditions when in use, and is usually expressed in terms of the motor's rated power or rated current. The cutting specific energy consumption is the energy consumed when the cutting part cuts a unit of coal and rock. The value of the cutting specific energy consumption is usually set by the equipment operator to guide and monitor the energy consumption of the coal mining machine in actual operation to ensure that it can operate at the optimal energy consumption level. Since the cutting motor operates best under rated load, it is necessary to obtain the cutting specific energy consumption corresponding to the rated load, that is, the target cutting specific energy consumption, and set this value as the energy efficiency benchmark of the coal mining machine to ensure that the coal mining machine remains in the best operating condition during operation.

[0050] In actual work, the cutting motor will have a load range corresponding to the rated load. When the motor runs in this load range, it can be regarded as the motor is in the best working condition. It can be understood that when the cutting motor is in the load range corresponding to the rated load, the coal mining machine is also running in the best working condition, and no additional adjustment is required for the coal mining machine. However, when the load of the cutting motor suddenly increases, for example, when the coal mining machine runs from a soft coal seam to a hard coal seam, the load of the cutting motor will be greater than the upper limit of the load range. In order to prevent the cutting tool from rotating too fast and then being damaged, it is necessary to slow down the speed of the cutting part moving forward, that is, to reduce the moving speed of the traction part, thereby reducing the load of the cutting motor. When the load of the cutting motor suddenly decreases, for example, when the coal mining machine runs from a hard coal seam to a soft coal seam, the load of the cutting motor will be less than the lower limit of the load range. In order to prevent the working efficiency of the coal mining machine from decreasing, it is necessary to speed up the speed of the cutting part moving forward, that is, to speed up the moving speed of the traction part, thereby increasing the load of the cutting motor. When the load of the cutting motor is not within the load range, in order to keep the coal mining machine at its best working efficiency, that is, to keep it within the target cutting ratio energy consumption range, it is necessary to adjust the moving speed of the traction unit more accurately. It can be understood that, under the premise of determining the target cutting ratio energy consumption, by obtaining the rotation speed of the drum connected to the cutting motor and the relevant inherent parameters of the coal mining machine and the coal rock, the ideal moving speed of the traction unit, that is, the target traction speed, can be determined. After determining the target traction speed, the system controls the variable frequency speed regulation device of the traction motor so that the actual moving speed of the traction unit reaches the predetermined target speed, which can ultimately enable the cutting motor to operate within the optimal load range, stabilize the cutting thickness of the coal mining machine, and control the energy consumption within the target range.

[0051] It should be noted that the drum speed of most coal mining machines in the current industry is fixed, and the traction speed is mostly manually controlled, which cannot meet the demand for precise control of the drum speed and traction speed. In order to achieve this goal, the cutting motor of the present invention adopts a permanent magnet variable frequency speed regulation motor, so that the drum speed can be infinitely variable with the load; the traction motor adopts variable frequency speed regulation technology, and is adaptively adjusted to the drum speed through program control, so that the traction speed can follow the changes in the drum speed in real time. This adaptive adjustment mechanism ensures that under different working conditions, the traction speed can be automatically adjusted to the optimal state, thereby maintaining the cutting thickness of the coal mining machine stable and ensuring that the energy consumption is maintained within the predetermined target range.

[0052] In a specific embodiment, for example Figure 8 In the coal mining machine shown, the cutting part 500 includes a cutting motor 501 and a drum 502 , and the traction part 600 includes a traction motor 601 and a moving device 602 . The traction part 600 moves by traction of the cutting part 500 via a connecting rod 700 .

[0053] The specific implementation methods are as follows:

[0054] After the coal mining machine is started, the current transformer automatically detects the current of the cutting motor, where la is the actual working current of the cutting motor and lc is the rated current of the cutting motor.

[0055] 1. When the cutting motor is in the underload range, the traction speed is controlled to increase until la=lc;

[0056] 2. When the cutting motor is in the full load range, do not operate;

[0057] Generally, the motor operating current in the underload range is less than the motor operating current in the full load range;

[0058] 3. When the cutting motor is in the overload range, the system outputs a command to automatically reduce the traction speed until the cutting motor exits the overload range;

[0059] Generally, the motor operating current in the full-load range is less than the motor operating current in the overload range;

[0060] 4. When the cutting motor is in the adaptive adjustment range, the system will let the coal mining machine pull in the reverse direction for a period of time before continuing to pull in the forward direction;

[0061] Generally, the motor operating current in the overload range is smaller than the motor operating current in the adaptive adjustment range;

[0062] 5. When the cutting motor is in the overload range, the overload protection stops traction and enters the fault lock state. It needs to confirm the fault and reset it manually before it can be restarted;

[0063] Generally, the motor operating current in the adaptive adjustment range is smaller than the motor operating current in the overload range.

[0064] The inverter transmits the traction motor current to the main control system through communication, where lb is the actual working current of the traction motor and le is the rated current of the traction motor.

[0065] 1. When the traction motor is in the underload range, the traction speed is allowed to increase (maximum to lb=le);

[0066] 2. When the traction motor is in the full load range, do not operate;

[0067] 3. When the traction motor is in the overload range, a deceleration signal is issued until the traction motor exits the overload area.

[0068] 4. When the traction motor is in the overload range, the overload protection is executed to stop traction.

[0069] Alternatively, if Figure 2As shown, the rated load of the cutting motor and the target cutting energy consumption ratio corresponding to the rated load are obtained, specifically including: step S1022: obtaining the first operating speed and the first moving speed corresponding to the rated load; step S1024: obtaining the mechanical parameters of the coal mining machine and the geological parameters of the mining object of the coal mining machine, the mechanical parameters including the cutting tooth blade width and the number of cutting teeth arranged on the cutting line, and the geological parameters including the coal cutting impedance and the coal brittleness index; step S1026: determining the target cutting energy consumption ratio corresponding to the rated load according to the first operating speed, the first moving speed, the mechanical parameters and the geological parameters.

[0070] In this embodiment, firstly, a first operating speed and a first moving speed corresponding to the rated load are obtained through advanced sensors and control systems, wherein the first operating speed is the speed of the drum connected to the cutting motor when the cutting motor is working under the rated load, and the first moving speed is the moving speed of the traction part when the cutting motor is working under the rated load.

[0071] The system then further collects the mechanical parameters of the coal mining machine and the geological parameters of the mining object (such as coal and rock). The mechanical parameters include the pick blade width and the number of picks arranged on the cutting line, where the pick blade width is the width of the part of the pick in contact with the coal rock when cutting the coal seam, and the cutting line is one or more imaginary cutting paths formed by the picks arranged along the rotation direction on the surface of the coal mining machine drum; the geological parameters include coal cutting resistance and coal brittleness index, where coal cutting resistance is the resistance generated by the coal seam when it is cut, similar to the "hardness" or "resistance" of the coal seam during the cutting process, and the coal brittleness index is the fragility or fragility of the coal seam when subjected to external force. These parameters reflect the physical properties of different coal seams.

[0072] By comprehensively analyzing the first operating speed, the first moving speed, and the acquired mechanical and geological parameters, the system can accurately calculate the target cutting ratio energy consumption corresponding to the rated load. This target value, as a benchmark for energy efficiency optimization, can guide the operation adjustment of the coal mining machine under different working conditions. It can be understood that when the coal mining machine faces coal seams of different hardness and brittleness, the system can automatically adjust the moving speed of the traction unit according to the target cutting ratio energy consumption to ensure that the energy consumption remains within the predetermined optimal range.

[0073] The present invention is based on the following two formulas, where the shearer cutting specific energy consumption is Hw. Through this adaptive cutting technology, the shearer traction speed V automatically follows the drum speed n under the same working conditions, so that the cutting thickness h maintains a relatively stable value, the shearer cutting efficiency also always maintains a stable value, and the shearer production capacity is also relatively stable, which can effectively improve the production efficiency of the shearer. The adaptive cutting technology of the present invention is mainly reflected in: the traction speed is adaptively matched with the cutting speed through frequency conversion control, and no manual adjustment is required.

[0074]

[0075] Where: Hw-coal mining machine cutting specific energy consumption;

[0076] A-coal cutting resistance, depends on the hardness and strength of coal (N / mm);

[0077] b-cutting edge width (cm);

[0078] h-chip thickness (cm);

[0079] B-coal brittleness index, related to the nature of coal;

[0080] V- traction speed of coal mining machine (m / min);

[0081] n-coal mining machine drum speed (r / min);

[0082] z-The number of picks on a cutting line depends on the pick configuration type and the number of spiral blade heads.

[0083] Alternatively, if Figure 3 As shown, determining the load interval corresponding to the rated load includes: step S1042: obtaining a first deviation ratio value and a second deviation ratio value of the load interval; step S1044: determining an upper limit load value of the load interval according to the rated load and the first deviation ratio value; step S1046: determining a lower limit load value of the load interval according to the rated load and the second deviation ratio value.

[0084] In this embodiment, by obtaining the first deviation ratio value and the second deviation ratio value of the load interval, the upper and lower limits of the load interval can be determined. The first deviation ratio value corresponds to the maximum upward allowable deviation range of the cutting motor load based on the rated load, and the second deviation ratio value corresponds to the maximum downward allowable deviation range of the cutting motor load based on the rated load. For example, the first deviation ratio is set to 10%, the second deviation ratio is set to 5%, and the rated load (current: unit ampere) is 100, then the upper limit load value of the rated interval = rated load × (1 + first deviation ratio value), that is, 100 × (1 + 10%) = 100 × 1.10 = 110; the lower limit load value = rated load × (1-second deviation ratio value), that is, 100 × (1-5%) = 100 × 0.95 = 95, and the final load interval is (95-110).

[0085] Alternatively, if Figure 4 As shown, the cutting motor is a permanent magnet variable frequency speed regulating motor. When the actual load value is outside the load range, the target traction speed is determined according to the running speed of the drum and the target cutting ratio energy consumption, including: step S1082: determining the cutting thickness corresponding to the cutting part according to the target cutting ratio energy consumption; step S1084: determining the change in the speed of the drum; step S1086: determining the change in traction speed according to the cutting thickness, the change in speed and the mechanical parameters; step S1088: determining the target traction speed according to the change in traction speed and the moving speed of the traction part.

[0086] In this embodiment, when the actual load value of the cutting motor is outside the load range, it is necessary to adjust the moving speed of the traction part so that the actual load value of the cutting motor returns to the load range as soon as possible. First, the cutting thickness h corresponding to the working energy consumption of the coal mining machine when it is the target cutting energy consumption should be calculated based on the set target cutting ratio energy consumption, combined with the mechanical parameters of the coal mining machine and the geological parameters of the mining object. The cutting thickness is the depth of each cut when the coal mining machine cuts the coal seam. It is closely related to the rotation speed and traction speed of the drum. When the actual load value of the cutting motor is outside the load range, that is, when the cutting motor is underloaded or overloaded, in order to make the coal mining machine run smoothly and efficiently, the cutting thickness of the coal mining machine should also be kept near h by controlling the traction speed.

[0087] In each drum rotation cycle, the traction speed of the coal mining machine determines the advancement distance (i.e., linear displacement) of the pick on the drum surface in the coal seam, while the drum speed determines the number of times the pick cuts the coal seam per unit time. At a certain traction speed, when the drum speed is high, the number of drum rotations per unit time increases, resulting in a shallower cutting depth each time the pick cuts, i.e., a reduced cutting thickness; on the contrary, when the drum speed is low, the cutting depth of each rotation deepens and the cutting thickness increases. The traction speed determines the speed at which the coal mining machine advances. At a fixed drum speed, the faster the traction speed, the deeper the cutting depth of the pick on the coal seam and the greater the cutting thickness; when the traction speed slows down, the cutting thickness decreases. According to the formula for cutting thickness, when the cutting thickness is determined, the traction speed can be inverted based on the obtained drum speed, i.e., the traction speed is proportional to the drum speed, and the proportional coefficient is related to the arrangement density of the pick. It can be understood that after collecting the change in the rotation speed of the drum, the change in the traction speed can be determined according to the cutting thickness and the mechanical parameters of the coal mining machine, and finally the target traction speed can be calculated by superimposing the calculated change in traction speed and the obtained current moving speed of the traction part.

[0088] Alternatively, if Figure 5 As shown, when the actual load value is outside the load range, before determining the target traction speed according to the running speed of the drum and the target cutting ratio energy consumption, it also includes: step S1072: judging whether the actual load value is within the load range; step S1074: if the actual load value is within the load range, keeping the moving speed unchanged.

[0089] In this embodiment, before determining the target traction speed, it is necessary to first determine whether the actual load value of the cutting motor is within the load range. If the actual load is within the range, it means that the current traction speed and the drum speed have reached an ideal state. At this time, there is no need to adjust the moving speed. Keeping the coal mining machine running in this state can reduce unnecessary energy consumption. In addition, when the actual load is within the load range, the matching of the cutting thickness and the traction speed is also optimal. If the traction speed is adjusted in this state, the cutting thickness may change, affecting the working stability of the equipment.

[0090] Alternatively, if Figure 6 As shown, adjusting the moving speed of the traction part to the target traction speed includes: step S1102: if the actual load value is less than the lower limit load value, increasing the moving speed according to the traction speed change until the moving speed reaches the target traction speed; step S1104: if the actual load value is greater than the upper limit load value, reducing the moving speed according to the traction speed change until the moving speed reaches the target traction speed.

[0091] In this embodiment, when the actual load value is less than the lower limit load value, it means that the current cutting thickness may be too small, resulting in insufficient load on the cutting motor, and the coal mining machine as a whole operates within a lower energy efficiency range. For this reason, the system will gradually increase the moving speed based on the "traction speed change", thereby increasing the cutting thickness and increasing the motor load to the expected optimal range. When the actual load value is greater than the upper limit load value, it indicates that the current load of the cutting motor is too large, which may be due to excessive cutting thickness or increased coal seam hardness, resulting in increased motor load, which will lead to increased energy consumption, excessive equipment load, and even overload risk. For this reason, the system gradually reduces the moving speed based on the "traction speed change" to reduce the motor load. It should be noted that during this process, the system will continue to monitor the changes in the actual load value and gradually adjust the traction speed to ensure that when the target traction speed is reached, the actual load value of the cutting motor returns to the load range, so that the coal mining machine can operate efficiently, and when the moving speed reaches the target traction speed, the system will stop operating to ensure that the coal mining machine can operate stably at this moving speed. It should be noted that when the system adjusts the moving speed of the traction unit, the change in the moving speed may be linear or nonlinear, depending on the specific control strategy and actual application scenario.

[0092] Alternatively, if Figure 7 As shown, the embodiment of the present application provides a control device 900. The control device 900 includes an acquisition module 901, a parameter determination module 902, an adjustment module 903, and a speed determination module 904.

[0093] Among them, the acquisition module 901 is used to obtain the rated load of the cutting motor and the target cutting ratio energy consumption corresponding to the rated load; the parameter determination module 902 is used to determine the load range corresponding to the rated load; the acquisition module 901 is also used to obtain the actual load value of the cutting motor; the speed determination module 904 is used to determine the target traction speed according to the operating speed of the drum and the target cutting ratio energy consumption when the actual load value is outside the load range; the adjustment module 903 adjusts the moving speed of the traction part to the target traction speed.

[0094] The control device 900 in the embodiment of the present application can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine or a self-service machine, etc., which is not specifically limited in the embodiment of the present application.

[0095] The control device 900 in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0096] The control device 900 provided in the embodiment of the present application can realize Figures 1 to 6 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0097] Alternatively, if Fig. 9 As shown, the embodiment of the present application also provides a coal mining machine 1000, including a processor 1110, a memory 1109, and a program or instruction stored in the memory 1109 and executable on the processor 1110. When the program or instruction is executed by the processor 1110, each process of the embodiment of the above-mentioned control method is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0098] It should be noted that the electronic devices in the embodiments of the present application include electronic devices and non-electronic devices.

[0099] Among them, the processor 1110 is used to obtain the rated load of the cutting motor and the target cutting ratio energy consumption corresponding to the rated load; determine the load range corresponding to the rated load; obtain the actual load value of the cutting motor; when the actual load value is outside the load range, determine the target traction speed according to the operating speed of the drum and the target cutting ratio energy consumption; adjust the moving speed of the traction part to the target traction speed.

[0100] Optionally, the processor 1110 is also used to obtain a first operating speed and a first moving speed corresponding to the rated load; obtain mechanical parameters of the coal mining machine and geological parameters of the mining object of the coal mining machine, the mechanical parameters include the width of the cutter blade and the number of cutter arrangements on the cutting line, and the geological parameters include coal cutting impedance and coal brittleness index; determine the target cutting specific energy consumption corresponding to the rated load based on the first operating speed, the first moving speed, the mechanical parameters and the geological parameters.

[0101] Optionally, the processor 1110 is further used to obtain a first deviation ratio value and a second deviation ratio value of the load interval; determine an upper limit load value of the load interval according to the rated load and the first deviation ratio value; and determine a lower limit load value of the load interval according to the rated load and the second deviation ratio value.

[0102] Optionally, the processor 1110 is also used to determine the cutting thickness corresponding to the cutting part according to the target cutting specific energy consumption; determine the change in the rotation speed of the roller; determine the change in the traction speed according to the cutting thickness, the change in rotation speed and the mechanical parameters; determine the target traction speed according to the change in the traction speed and the moving speed of the traction part.

[0103] Optionally, the processor 1110 is further configured to determine whether the actual load value is within the load interval; if the actual load value is within the load interval, the moving speed is kept unchanged.

[0104] Optionally, the processor 1110 is further configured to increase the moving speed according to the change in the traction speed until the moving speed reaches the target traction speed if the actual load value is less than the lower limit load value; and to reduce the moving speed according to the change in the traction speed until the moving speed reaches the target traction speed if the actual load value is greater than the upper limit load value.

[0105] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned control method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0106] The methods may be implemented in a variety of different ways depending on the specific features and / or example applications. For example, the methods may be implemented by a combination of hardware, firmware, and / or software. For example, in a hardware implementation, the processor may be implemented in one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, electronic devices, other device units for performing the above functions, and / or combinations thereof.

[0107] A computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device. A computer readable storage medium may be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above devices, but is not limited thereto. A non-exhaustive list of more specific examples of computer readable storage media includes: portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory card, floppy disk, encoding mechanical device (such as a punch card or a groove with a raised structure with instructions recorded) and any suitable combination of the above devices. The computer readable storage medium used herein should not be understood as a transmission signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium, or an electrical signal transmitted through a wire, etc.

[0108] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0109] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0110] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0111] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0112] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0113] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A control method, characterized in that: For a coal mining machine, the coal mining machine includes a cutting part and a traction part for traction of the cutting part, the cutting part includes a drum and a cutting motor for driving the drum to rotate, and the control method includes: Acquire the rated load of the cutting motor and the target cutting specific energy consumption corresponding to the rated load; determining a load interval corresponding to the rated load; Obtaining an actual load value of the cutting motor; When the actual load value is outside the load range, determining a target traction speed according to the running speed of the drum and the target cutting ratio energy consumption; The moving speed of the traction unit is adjusted to the target traction speed.

2. The control method according to claim 1, characterized in that: The obtaining of the rated load of the cutting motor and the target cutting specific energy consumption corresponding to the rated load specifically includes: Acquire a first operating speed and a first moving speed corresponding to the rated load; Acquire mechanical parameters of the coal mining machine and geological parameters of the mining object of the coal mining machine, wherein the mechanical parameters include the pick blade width and the number of picks arranged on the cutting line, and the geological parameters include coal cutting resistance and coal brittleness index; A target cutting specific energy consumption corresponding to the rated load is determined according to the first operating rotation speed, the first moving speed, the mechanical parameters, and the geological parameters.

3. The control method according to claim 1, characterized in that: The determining of the load interval corresponding to the rated load includes: Obtain a first deviation ratio value and a second deviation ratio value of the load interval; Determine an upper limit load value of the load interval according to the rated load and the first deviation ratio value; A lower limit load value of the load range is determined according to the rated load and the second deviation ratio value.

4. The control method according to claim 2, characterized in that: The cutting motor is a permanent magnet variable frequency speed regulating motor. When the actual load value is outside the load range, the target traction speed is determined according to the running speed of the drum and the target cutting specific energy consumption, including: Determining a cutting thickness corresponding to the cutting portion according to the target cutting specific energy consumption; Determining a change in the rotation speed of the drum; Determining a change in traction speed according to the cutting thickness, the change in rotation speed and the mechanical parameters; A target traction speed is determined according to the traction speed variation and the moving speed of the traction unit.

5. The control method according to any one of claims 1 to 4, characterized in that: In the case where the actual load value is outside the load range, before determining the target traction speed according to the running speed of the drum and the target cutting ratio energy consumption, the method further includes: Determining whether the actual load value is within the load range; If the actual load value is within the load range, the moving speed is kept unchanged.

6. The control method according to claim 4, characterized in that: The adjusting the moving speed of the traction unit to the target traction speed includes: If the actual load value is less than the lower limit load value of the load range, the moving speed is increased according to the traction speed change until the moving speed reaches the target traction speed; If the actual load value is greater than the upper limit load value of the load interval, the moving speed is reduced according to the traction speed change until the moving speed reaches the target traction speed.

7. A control device, characterized in that: Used in a coal mining machine, the coal mining machine comprises a cutting part and a traction part for traction of the cutting part, the cutting part comprises a drum and a cutting motor for driving the drum to rotate, the control device comprises: An acquisition module, used for acquiring a rated load of the cutting motor and a target cutting specific energy consumption corresponding to the rated load; A parameter determination module, used to determine a load interval corresponding to the rated load; The acquisition module is also used to acquire the actual load value of the cutting motor; A speed determination module, configured to determine a target traction speed according to the running speed of the drum and the target cutting ratio energy consumption when the actual load value is outside the load range; The adjustment module adjusts the moving speed of the traction unit to the target traction speed.

8. A coal mining machine, characterized in that: include: A cutting part and a traction part for traction of the cutting part to move, wherein the cutting part comprises a drum and a cutting motor for driving the drum to rotate; A control device as claimed in claim 7.

9. A coal mining machine, characterized in that: The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the control method as claimed in any one of claims 1 to 6.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the control method according to any one of claims 1 to 6 are implemented.

11. A chip, characterized in that: The chip includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or an instruction to implement the steps of the control method according to any one of claims 1 to 6.

Images