Dynamic torque distribution method for electro-hydraulic hybrid coal mining machine based on regular logic gate control

Abstract

An electro-hydraulic hybrid coal mining machine dynamic torque distribution method based on rule logic gate control comprises the following steps: when in a traction cutting working condition, judging whether assistance can be carried out according to an actual pressure value p and a full pressure state pressure value a; if p is greater than or equal to a, the following comparison is carried out: if Ireal is greater than or equal to 1.1 I, a hybrid driving mode is entered, further comparison is carried out, and if Ireal is greater than or equal to 0.9 I and Ireal is greater than or equal to 1.1 I, the rotating speed is reduced, and a pure electric driving mode is entered; if I < actual > is greater than or equal to 0.9 I < actual > and is less than 1.1 I < actual >, entering a pure electric driving mode; if I < actual > is less than 0.9 I < rated >, entering a pure electric driving mode; if I < actual > is less than 1.1 I < rated >, entering a pure electric driving mode; if p is less than a, entering a pure electric driving mode; in a braking working condition, if p is greater than or equal to a, entering a hybrid braking mode; and if p is smaller than a, an original braking mode is carried out. The method can improve the stability and the energy utilization rate of the electro-hydraulic hybrid drive system.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent control of coal mining machines, and in particular relates to a dynamic torque distribution method of an electric-hydraulic hybrid coal mining machine based on rule-based logic gate control. Background Art

[0002] According to the current situation of my country's energy, coal will continue to be the main energy source for a long time in the future. Coal mining machine is one of the key equipment to ensure the industrial output of coal. The stability and energy utilization rate of coal mining machine play a very important role in increasing coal production, improving production efficiency and ensuring operation safety. The drive system of traditional coal mining machine has always adopted a single motor drive mode, mainly relying on the traction motor to drive the coal mining machine to perform cutting action, thereby realizing coal mining operation. However, in the actual operation process, the traditional single drive mode is not enough to meet the production needs under complex working conditions. In order to solve this problem, an electro-hydraulic hybrid system has been derived. However, for the current electro-hydraulic hybrid drive system, there is a lack of scientific and effective torque distribution strategy. The adoption of a scientific and effective torque distribution strategy can not only significantly improve the stability of the coal mining machine during operation, which is conducive to improving the efficiency of coal mining operations, but also greatly improve the utilization rate of energy, thereby achieving the purpose of energy saving.

[0003] With the increasing requirements for coal resource mining efficiency and comprehensive utilization rate at this stage, higher requirements are put forward for the stability and energy utilization of coal mining machines. Therefore, it is urgent to provide a scientific torque distribution strategy for the electro-hydraulic hybrid system. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides a dynamic torque distribution method for an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control. The method has a simple implementation process, high stability and strong reliability. It can supplement the torque and control the speed of the traction motor of the coal mining machine according to the actual working condition of the traction part of the coal mining machine. At the same time, it can also realize the work supplement of the hydraulic height adjustment system, assist the coal mining machine braking and other operations, and can significantly improve the stability and energy utilization rate of the electro-hydraulic hybrid drive system.

[0005] In order to solve the above technical problems, the present invention provides a method for distributing dynamic torque of an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control, comprising the following steps:

[0006] Step 1: Receive the output signal of the coal mining machine remote control, and determine the current working condition of the coal mining machine according to the output signal. If the coal mining machine is currently in the traction and cutting working condition, execute step 2; if the coal mining machine is currently in the braking and parking working condition, execute step 3;

[0007] Step 2: judging whether the hydraulic height adjustment system is required to participate in the auxiliary traction motor driven cutting operation according to the actual pressure value p of the hydraulic height adjustment system and the pressure value a of the full pressure state; if p≥a, it indicates that the hydraulic height adjustment system can meet the requirements of the auxiliary traction motor driven cutting operation, and S21 is executed; if p<a, it indicates that the hydraulic height adjustment system cannot meet the requirements of the auxiliary traction motor driven cutting operation, and S22 is executed;

[0008] S21: Get the actual current I of the traction motor of the coal mining machine 实 , Rated current I of the coal mining machine traction motor 额 , based on the actual torque T of the coal mining machine traction motor 实 and the actual current I of the shearer traction motor 实 The relationship between the actual current I 实 and rated current I 额 The torque is distributed based on the comparison result;

[0009] If I 实 ≥ 1.1I 额 , then the load of the traction motor is large at this time, the control hydraulic height adjustment system intervenes and assists the traction motor to drive the cutting operation, entering the hybrid drive mode, and further comparing I 实 and I 额 ; if I 实 ≥0.9I 额 , and I 实 ≥ 1.1I 额 , it indicates that after the hydraulic height adjustment system has supplemented the torque of the traction motor, the load of the traction motor is still too large, and the speed of the traction motor is reduced to reduce the traction load. At the same time, the intervention of the hydraulic height adjustment system is stopped and the pure electric drive mode is entered; if I 实 ≥0.9I 额 , and I 实 <1.1I 额 , it indicates that after the hydraulic height adjustment system has supplemented the torque of the traction motor, the torque of the traction motor has been effectively supplemented, the intervention of the hydraulic height adjustment system is stopped, and the pure electric drive mode is entered; if I 实 <0.9I 额 , it means that after the hydraulic height adjustment system has supplemented the torque of the traction motor, the torque of the traction motor has been effectively supplemented, the intervention of the hydraulic height adjustment system is stopped, and the pure electric drive mode is entered;

[0010] If I 实 <1.1I 额 , it indicates that the load of the traction motor is within the adjustable range, and the hydraulic system does not need to be intervened, and the pure electric drive mode is entered;

[0011] S22: Get the actual current I of the traction motor of the coal mining machine实 , Rated current I of the coal mining machine traction motor 额 , based on the actual torque T of the coal mining machine traction motor 实 and the actual current I of the shearer traction motor 实 The relationship between the actual current I 实 and rated current I 额 The torque is distributed based on the comparison result;

[0012] If I 实 ≥ 1.1I 额 , it indicates that the load of the traction motor is large at this time, so the speed of the traction motor is reduced to reduce the traction load and enter the pure electric drive mode;

[0013] If I 实 <1.1I 额 , it indicates that the load of the traction motor is within the adjustment range. At this time, the output torque of the traction motor can not only meet the traction load, but also supplement the work of the hydraulic height adjustment system and enter the pure electric drive mode;

[0014] Step 3: Determine whether the hydraulic height adjustment system needs to participate in the auxiliary braking and parking action based on the actual pressure value p of the hydraulic height adjustment system and the pressure value a in the full pressure state; if p≥a, it indicates that the hydraulic height adjustment system can assist the traction motor braking and parking action, control the reversal of the hydraulic motor in the hydraulic height adjustment system, and use the reverse torque input during the reversal process of the hydraulic motor to accelerate the braking and parking process, and enter the mixed braking mode; if p<a, it indicates that the hydraulic height adjustment system cannot assist the traction motor braking and parking action, and the original braking method is used for braking and parking.

[0015] As a preferred embodiment, in step 2, the actual pressure value p of the hydraulic height adjustment system is obtained by the following method:

[0016] The pressure sensor connected to the rod chamber oil port of the hydraulic height adjustment cylinder in the hydraulic height adjustment system is used to collect the pressure signal of the hydraulic height adjustment system in real time and send it to the controller. The controller obtains the actual pressure value p of the hydraulic height adjustment system based on the pressure signal of the hydraulic height adjustment system.

[0017] As a preferred embodiment, in step 2, the actual current I of the traction motor of the coal mining machine 实 Obtained by:

[0018] The current sensor connected to the traction motor collects the current signal under different cutting conditions in real time and sends it to the controller. The controller obtains the actual current I according to the current signal. 实 .

[0019] As a preferred embodiment, in step 2, the rated current I of the traction motor of the coal mining machine is obtained according to formula (1): 额;

[0020]

[0021] Where, P is the rated power of the traction motor, in kW; U is the rated voltage of the traction motor, in V; η is the efficiency of the motor; is the power factor.

[0022] As a preferred method, in step 2, the actual torque T of the traction motor of the coal mining machine is obtained by the following method: 实 and the actual current I of the shearer traction motor 实 Relationship between

[0023] A1: The rotor current I2 of the traction motor is obtained according to formula (2); the rotor circuit power factor of the traction motor is obtained according to formula (3) According to formula (4), the magnetic flux per pole of the rotating magnetic field is obtained

[0024]

[0025]

[0026]

[0027] In the formula, s is the slip rate, E 20 is the rotor induced electromotive force, R2 is the rotor resistance, X 20 is the rotor leakage reactance;

[0028] A2: Obtain the expression of the traction motor torque according to formula (5), and substitute formula (2) and formula (3) into formula (5) to obtain the torque formula (6);

[0029]

[0030]

[0031] A3: Substitute formula (4) into formula (6) to obtain formula (7);

[0032]

[0033] A4: According to the principle of motor, the rotor induced electromotive force E 20 The relationship between the stator voltage and the stator voltage is given by formula (8);

[0034]

[0035] Where k is a constant;

[0036] A5: Substitute formula (8) into formula (7) to obtain formula (9);

[0037]

[0038] A6: Let constant Transform formula (9) to obtain formula (10);

[0039]

[0040] A7: When U1 and R2 remain unchanged, the torque T is a function of the slip rate s. The slip rate s is converted into the speed to obtain the mechanical characteristic curve of speed and torque;

[0041] A8: According to the mechanical characteristic curve of speed and torque, the actual torque T of the traction motor of the coal mining machine is obtained according to formula (11) in the optimal working curve range of the motor: 实 and the actual current I of the shearer traction motor 实 Relationship between

[0042] T 实 =E t ×I 实 (11);

[0043] In the formula, K t is the torque constant of the motor, Among them, N is the rated speed and T is the rated torque.

[0044] The present invention provides a dynamic torque distribution strategy for the traction part of an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control. The rule-based logic gate control strategy is an efficient and practical control method, which is simple to understand, easy to implement, stable and reliable. When applied to the electro-hydraulic hybrid system of the traction part of the coal mining machine, the real-time working parameters of the coal mining machine (such as the optimal torque and actual torque of the traction motor, the pressure of the hydraulic height adjustment system, etc.) can be analyzed, and the key components such as the hydraulic motor in the hydraulic height adjustment system can be accurately controlled in combination with the preset threshold value and logic rules, so that the torque can be scientifically and reasonably distributed dynamically according to the actual situation of the electro-hydraulic hybrid system. This dynamic distribution method can play an important role in the electro-hydraulic hybrid control of the traction part of the coal mining machine. It can not only quickly respond to the changes in different states of the electro-hydraulic hybrid drive system, but also flexibly adjust the power distribution state and working mode (such as pure electric drive mode, hybrid drive mode, work complement mode, etc.) through logical judgment, so as to realize the precise control of the conversion and transmission process of hydraulic energy and electric energy, and ensure that the electro-hydraulic hybrid system can operate stably and reliably and operate efficiently under various working conditions.

[0045] During the actual operation of the coal mining machine, the actual torque of the traction motor cannot be measured directly and accurately. At the same time, the range of change of the speed is not large, while the range of change of the traction motor current is relatively obvious. Therefore, the actual torque and actual speed of the motor cannot be used as the basis for torque distribution. Instead, the change of the traction motor current can be used to reflect the load change of the traction motor, and the actual situation of the hydraulic height adjustment system, traction motor and load can be accurately and efficiently judged, and then the scientific distribution of torque can be achieved according to the actual situation of the hydraulic height adjustment system, traction motor and load.

[0046] The implementation process of this method is simple, the stability is high, and the reliability is strong. It can supplement the torque and control the speed of the traction motor of the coal mining machine according to the actual working conditions of the traction part of the coal mining machine. At the same time, it can also realize the work supplement of the hydraulic height adjustment system and assist the coal mining machine braking, etc., which significantly improves the stability and energy utilization rate of the electro-hydraulic hybrid drive system. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a flow chart of the present invention;

[0048] Figure 2 is a schematic diagram of the electric-hydraulic hybrid drive system of the present invention in a pure electric drive state;

[0049] Figure 3 is a schematic diagram of the electric-hydraulic hybrid drive system of the present invention in a hybrid drive state;

[0050] Figure 4 is a schematic diagram of the electric-hydraulic hybrid drive system of the present invention in a working complementary state;

[0051] Figure 5 is a schematic diagram of the electric-hydraulic hybrid drive system of the present invention in a hybrid braking state;

[0052] Figure 6 It is a schematic diagram of the speed torque characteristic curve in the present invention. DETAILED DESCRIPTION

[0053] The present invention will be further described below in conjunction with the accompanying drawings.

[0054] like Figures 1 to 5 As shown, the present invention provides a method for distributing dynamic torque of an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control, comprising the following steps:

[0055] Step 1: Receive the output signal of the coal mining machine remote control, and determine the current working condition of the coal mining machine according to the output signal. If the coal mining machine is currently in the traction and cutting working condition, execute step 2; if the coal mining machine is currently in the braking and parking working condition, execute step 3;

[0056] Step 2: judging whether the hydraulic height adjustment system is required to participate in the auxiliary traction motor driven cutting operation according to the actual pressure value p of the hydraulic height adjustment system and the pressure value a of the full pressure state; if p≥a, it indicates that the hydraulic height adjustment system can meet the requirements of the auxiliary traction motor driven cutting operation, and S21 is executed; if p<a, it indicates that the hydraulic height adjustment system cannot meet the requirements of the auxiliary traction motor driven cutting operation, and S22 is executed;

[0057] S21: Get the actual current I of the traction motor of the coal mining machine 实 , Rated current I of the coal mining machine traction motor 额 , based on the actual torque T of the coal mining machine traction motor 实 and the actual current I of the shearer traction motor 实 The relationship between the actual current I 实 and rated current I 额 The torque is distributed based on the comparison result;

[0058] If I 实 ≥ 1.1I 额 , then the load of the traction motor is large at this time, the control hydraulic height adjustment system intervenes and assists the traction motor to drive the cutting operation, entering the hybrid drive mode, and further comparing I 实 and I 额 ; if I 实 ≥0.9I 额 , and I 实 ≥ 1.1I 额 , it indicates that after the hydraulic height adjustment system has supplemented the torque of the traction motor, the load of the traction motor is still too large, and the speed of the traction motor is reduced to reduce the traction load. At the same time, the intervention of the hydraulic height adjustment system is stopped and the pure electric drive mode is entered; if I 实 ≥0.9I 额 , and I 实 <1.1I 额 , it indicates that after the hydraulic height adjustment system has supplemented the torque of the traction motor, the torque of the traction motor has been effectively supplemented, the intervention of the hydraulic height adjustment system is stopped, and the pure electric drive mode is entered; if I 实 <0.9I 额 , it means that after the hydraulic height adjustment system has supplemented the torque of the traction motor, the torque of the traction motor has been effectively supplemented, the intervention of the hydraulic height adjustment system is stopped, and the pure electric drive mode is entered;

[0059] If I 实 <1.1I 额 , it indicates that the load of the traction motor is within the adjustable range, and the hydraulic system does not need to be intervened, and the pure electric drive mode is entered;

[0060] S22: Get the actual current I of the traction motor of the coal mining machine实 , Rated current I of the coal mining machine traction motor 额 , based on the actual torque T of the coal mining machine traction motor 实 and the actual current I of the shearer traction motor 实 The relationship between the actual current I 实 and rated current I 额 The torque is distributed based on the comparison result;

[0061] If I 实 ≥ 1.1I 额 , it indicates that the load of the traction motor is large at this time, so the speed of the traction motor is reduced to reduce the traction load and enter the pure electric drive mode;

[0062] If I 实 <1.1I 额 , it indicates that the load of the traction motor is within the adjustment range. At this time, the output torque of the traction motor can not only meet the traction load, but also supplement the work of the hydraulic height adjustment system and enter the pure electric drive mode;

[0063] Step 3: Determine whether the hydraulic height adjustment system needs to participate in the auxiliary braking and parking action based on the actual pressure value p of the hydraulic height adjustment system and the pressure value a in the full pressure state; if p≥a, it indicates that the hydraulic height adjustment system can assist the traction motor braking and parking action, control the reversal of the hydraulic motor in the hydraulic height adjustment system, and use the reverse torque input during the reversal process of the hydraulic motor to accelerate the braking and parking process, and enter the mixed braking mode; if p<a, it indicates that the hydraulic height adjustment system cannot assist the traction motor braking and parking action, and the original braking method is used for braking and parking.

[0064] As a preferred embodiment, in step 2, the actual pressure value p of the hydraulic height adjustment system is obtained by the following method:

[0065] The pressure sensor connected to the rod chamber oil port of the hydraulic height adjustment cylinder in the hydraulic height adjustment system is used to collect the pressure signal of the hydraulic height adjustment system in real time and send it to the controller. The controller obtains the actual pressure value p of the hydraulic height adjustment system based on the pressure signal of the hydraulic height adjustment system.

[0066] As a preferred embodiment, in step 2, the actual current I of the traction motor of the coal mining machine 实 Obtained by:

[0067] The current sensor connected to the traction motor collects the current signal under different cutting conditions in real time and sends it to the controller. The controller obtains the actual current I according to the current signal. 实 .

[0068] As a preferred embodiment, in step 2, the rated current I of the traction motor of the coal mining machine is obtained according to formula (1): 额;

[0069]

[0070] Where, P is the rated power of the traction motor, in kW; U is the rated voltage of the traction motor, in V; η is the efficiency of the motor; is the power factor.

[0071] As a preferred method, in step 2, the actual torque T of the traction motor of the coal mining machine is obtained by the following method: 实 and the actual current I of the shearer traction motor 实 Relationship between

[0072] A1: The rotor current I2 of the traction motor is obtained according to formula (2); the rotor circuit power factor of the traction motor is obtained according to formula (3) According to formula (4), the magnetic flux per pole of the rotating magnetic field is obtained

[0073]

[0074]

[0075]

[0076] In the formula, s is the slip rate, E 20 is the rotor induced electromotive force, R2 is the rotor resistance, X 20 is the rotor leakage reactance;

[0077] A2: Obtain the expression of the traction motor torque according to formula (5), and substitute formula (2) and formula (3) into formula (5) to obtain the torque formula (6);

[0078]

[0079]

[0080] A3: Substitute formula (4) into formula (6) to obtain formula (7);

[0081]

[0082] A4: According to the principle of motor, the rotor induced electromotive force E 20 The relationship between the stator voltage and the stator voltage is given by formula (8);

[0083]

[0084] Where k is a constant;

[0085] A5: Substitute formula (8) into formula (7) to obtain formula (9);

[0086]

[0087] A6: Let constant Transform formula (9) to obtain formula (10);

[0088]

[0089] A7: Figure 6 As shown, when U1 and R2 remain unchanged, the torque T is a function of the slip rate s. The slip rate s is converted into the speed to obtain the mechanical characteristic curve of the speed and torque;

[0090] A8: According to the mechanical characteristic curve of speed and torque, the actual torque T of the traction motor of the coal mining machine is obtained according to formula (11) in the optimal working curve range of the motor: 实 and the actual current I of the shearer traction motor 实 The relationship between them can then reflect the change in the torque of the traction motor according to the change in the current of the traction motor;

[0091] T 实 =K t ×i 实 (11);

[0092] In the formula, K t is the torque constant of the motor, Among them, N is the rated speed and T is the rated torque.

[0093] The present invention provides a dynamic torque distribution strategy for the traction part of an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control. The rule-based logic gate control strategy is an efficient and practical control method, which is simple to understand, easy to implement, stable and reliable. When applied to the electro-hydraulic hybrid system of the traction part of the coal mining machine, the real-time working parameters of the coal mining machine (such as the optimal torque and actual torque of the traction motor, the pressure of the hydraulic height adjustment system, etc.) can be analyzed, and the key components such as the hydraulic motor in the hydraulic height adjustment system can be accurately controlled in combination with the preset threshold value and logic rules, so that the torque can be scientifically and reasonably distributed dynamically according to the actual situation of the electro-hydraulic hybrid system. This dynamic distribution method can play an important role in the electro-hydraulic hybrid control of the traction part of the coal mining machine. It can not only quickly respond to the changes in different states of the electro-hydraulic hybrid drive system, but also flexibly adjust the power distribution state and working mode (such as pure electric drive mode, hybrid drive mode, work complement mode, etc.) through logical judgment, so as to realize the precise control of the conversion and transmission process of hydraulic energy and electric energy, and ensure that the electro-hydraulic hybrid system can operate stably and reliably and operate efficiently under various working conditions.

[0094] During the actual operation of the coal mining machine, the actual torque of the traction motor cannot be measured directly and accurately. At the same time, the range of change of the speed is not large, while the range of change of the traction motor current is relatively obvious. Therefore, the actual torque and actual speed of the motor cannot be used as the basis for torque distribution. Instead, the change of the traction motor current can be used to reflect the load change of the traction motor, and the actual situation of the hydraulic height adjustment system, traction motor and load can be accurately and efficiently judged, and then the scientific distribution of torque can be achieved according to the actual situation of the hydraulic height adjustment system, traction motor and load.

[0095] The implementation process of this method is simple, the stability is high, and the reliability is strong. It can supplement the torque and control the speed of the traction motor of the coal mining machine according to the actual working conditions of the traction part of the coal mining machine. At the same time, it can also realize the work supplement of the hydraulic height adjustment system and assist the coal mining machine braking, etc., which significantly improves the stability and energy utilization rate of the electro-hydraulic hybrid drive system.

Claims

1. A method for distributing dynamic torque of an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control, characterized in that: The following steps are involved: Step 1: Receive the output signal of the coal mining machine remote control, and determine the current working condition of the coal mining machine according to the output signal. If the coal mining machine is currently in the traction and cutting working condition, execute step 2; if the coal mining machine is currently in the braking and parking working condition, execute step 3; Step 2: judging whether the hydraulic height adjustment system is required to participate in the auxiliary traction motor driven cutting operation according to the actual pressure value p of the hydraulic height adjustment system and the pressure value a of the full pressure state; if p≥a, it indicates that the hydraulic height adjustment system can meet the requirements of the auxiliary traction motor driven cutting operation, and S21 is executed; if p<a, it indicates that the hydraulic height adjustment system cannot meet the requirements of the auxiliary traction motor driven cutting operation, and S22 is executed; S21: Get the actual current I of the traction motor of the coal mining machine 实 , Rated current I of the coal mining machine traction motor 额 , based on the actual torque T of the coal mining machine traction motor 实 and the actual current I of the shearer traction motor 实 The relationship between the actual current I 实 and rated current I 额 The torque is distributed based on the comparison result; If I 实 ≥ 1.1I 额 , then the load of the traction motor is large at this time, the control hydraulic height adjustment system intervenes and assists the traction motor to drive the cutting operation, entering the hybrid drive mode, and further comparing I 实 and I 额 ; if I 实 ≥0.9I 额 , and I 实 ≥ 1.1I 额 , it indicates that after the hydraulic height adjustment system has supplemented the torque of the traction motor, the load of the traction motor is still too large, and the speed of the traction motor is reduced to reduce the traction load. At the same time, the intervention of the hydraulic height adjustment system is stopped and the pure electric drive mode is entered; if I 实 ≥0.9I 额 , and I 实 <1.1I 额 , it indicates that after the hydraulic height adjustment system has supplemented the torque of the traction motor, the torque of the traction motor has been effectively supplemented, the intervention of the hydraulic height adjustment system is stopped, and the pure electric drive mode is entered; if I 实 <0.9I 额 , it means that after the hydraulic height adjustment system has supplemented the torque of the traction motor, the torque of the traction motor has been effectively supplemented, the intervention of the hydraulic height adjustment system is stopped, and the pure electric drive mode is entered; If I 实 <1.1I 额 , it indicates that the load of the traction motor is within the adjustable range, and the hydraulic system does not need to be intervened, and the pure electric drive mode is entered; S22: Get the actual current I of the traction motor of the coal mining machine 实 , Rated current I of the coal mining machine traction motor 额 , based on the actual torque T of the coal mining machine traction motor 实 and the actual current I of the shearer traction motor 实 The relationship between the actual current I 实 and rated current I 额 The torque is distributed based on the comparison result; If I 实 ≥ 1.1I 额 , it indicates that the load of the traction motor is large at this time, so the speed of the traction motor is reduced to reduce the traction load and enter the pure electric drive mode; If I 实 <1.1I 额 , it indicates that the load of the traction motor is within the adjustment range. At this time, the output torque of the traction motor can not only meet the traction load, but also supplement the work of the hydraulic height adjustment system and enter the pure electric drive mode; Step 3: Determine whether the hydraulic height adjustment system needs to participate in the auxiliary braking and parking action based on the actual pressure value p of the hydraulic height adjustment system and the pressure value a in the full pressure state; if p≥a, it indicates that the hydraulic height adjustment system can assist the traction motor braking and parking action, control the reversal of the hydraulic motor in the hydraulic height adjustment system, and use the reverse torque input during the reversal process of the hydraulic motor to accelerate the braking and parking process, and enter the mixed braking mode; if p<a, it indicates that the hydraulic height adjustment system cannot assist the traction motor braking and parking action, and the original braking method is used for braking and parking.

2. According to claim 1, a method for distributing dynamic torque of an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control is characterized in that: In step 2, the actual pressure value p of the hydraulic height adjustment system is obtained by the following method: The pressure sensor connected to the rod chamber oil port of the hydraulic height adjustment cylinder in the hydraulic height adjustment system is used to collect the pressure signal of the hydraulic height adjustment system in real time and send it to the controller. The controller obtains the actual pressure value p of the hydraulic height adjustment system based on the pressure signal of the hydraulic height adjustment system.

3. According to claim 1, a method for distributing dynamic torque of an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control is characterized in that: In step 2, the actual current I of the shearer traction motor 实 Obtained by: The current sensor connected to the traction motor collects the current signal under different cutting conditions in real time and sends it to the controller. The controller obtains the actual current I according to the current signal. 实 .

4. According to claim 1, a method for distributing dynamic torque of an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control is characterized in that: In step 2, the rated current I of the coal mining machine traction motor is obtained according to formula (1): 额 ; Where, P is the rated power of the traction motor, in kW; U is the rated voltage of the traction motor, in V; η is the efficiency of the motor; is the power factor.

5. The method for distributing dynamic torque of an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control according to claim 1, characterized in that: In step 2, the actual torque T of the traction motor of the coal mining machine is calculated by the following method. 实 and the actual current I of the shearer traction motor 实 Relationship between A1: The rotor current I2 of the traction motor is obtained according to formula (2); the rotor circuit power factor of the traction motor is obtained according to formula (3) According to formula (4), the magnetic flux per pole of the rotating magnetic field is obtained In the formula, s is the slip rate, E 20 is the rotor induced electromotive force, R2 is the rotor resistance, X 20 is the rotor leakage reactance; A2: Obtain the expression of the traction motor torque according to formula (5), and substitute formula (2) and formula (3) into formula (5) to obtain the torque formula (6); A3: Substitute formula (4) into formula (6) to obtain formula (7); A4: According to the principle of motor, the rotor induced electromotive force E 20 The relationship between the stator voltage and the stator voltage is given by formula (8); Where k is a constant; A5: Substitute formula (8) into formula (7) to obtain formula (9); A6: Let constant Transform formula (9) to obtain formula (10); A7: When U1 and R2 remain unchanged, the torque T is a function of the slip rate s. The slip rate s is converted into the speed to obtain the mechanical characteristic curve of speed and torque; A8: According to the mechanical characteristic curve of speed and torque, the actual torque T of the traction motor of the coal mining machine is obtained according to formula (11) in the optimal working curve range of the motor: 实 and the actual current I of the shearer traction motor 实 Relationship between T 实 =K t ×I 实 (11); In the formula, K t is the torque constant of the motor, Among them, N is the rated speed and T is the rated torque.

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