Dynamic torque distribution method of electro-hydraulic hybrid coal shearer based on rule-based logic gate control

Abstract

A dynamic torque distribution method for an electro-hydraulic hybrid shearer based on rule-based logic gate control is proposed. When in the traction and cutting working state, whether assistance can be performed is determined based on the actual pressure value p and the full pressure state pressure value a; if p ≥ a, the comparison is as follows: if I 实 ≥1.1I 额 , enter the hybrid driving mode, further comparison, if I 实 ≥0.9I 额 , and I 实 ≥1.1I 额 , reduce the speed and enter the pure electric drive mode; if I 实 ≥0.9I 额 , and I 实 <1.1I 额 , enter the pure electric driving mode; if I 实 <0.9I 额 , enter the pure electric driving mode; if I 实 <1.1I 额 , enters pure electric drive mode; if p < a, enters pure electric drive mode; when in braking condition, if p ≥ a, enters hybrid braking mode; if p < a, enters the original braking mode. This method can improve the stability and energy utilization 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 electro-hydraulic hybrid coal mining machine based on rule-based logic gate control. Background Art

[0002] Given my country's current energy situation, coal will continue to be the primary energy source for a long time to come. Coal shearers are key equipment for ensuring industrial coal production. Their stability and energy efficiency are crucial for increasing coal production, improving production efficiency, and ensuring operational safety. Traditional shearer drive systems have traditionally relied on a single motor, primarily relying on a traction motor to drive the shearer's cutting motion and thus achieve coal mining operations. However, in actual operation, this single drive mode is insufficient to meet the demands of complex production conditions. To address this issue, electro-hydraulic hybrid systems have emerged. However, current electro-hydraulic hybrid drive systems lack a scientific and effective torque distribution strategy. Implementing a scientific and effective torque distribution strategy would not only significantly improve shearer stability during operation, thereby increasing coal mining efficiency, but also significantly increase energy utilization, thereby achieving energy savings.

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

[0004] In response to 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 coal mining machine traction motor according to the actual working conditions of the coal mining machine traction part. 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 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 shearer remote control, and determine the current working condition of the coal shearer based on the output signal. If the coal shearer is currently in the traction and cutting working condition, execute step 2; if the coal shearer is currently in the braking and parking working condition, execute step 3;

[0007] Step 2: Determine whether the hydraulic height adjustment system is required to assist the traction motor-driven cutting operation based on 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 assisting the traction motor-driven cutting operation, and execute S21; if p < a, it indicates that the hydraulic height adjustment system cannot meet the requirements of assisting the traction motor-driven cutting operation, and execute S22;

[0008] S21: Get the actual current I of the shearer traction motor 实 , Rated current of the shearer traction motor I 额 , based on the actual torque T of the shearer traction motor 实 and the actual current of the shearer traction motor I 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, 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 vehicle enters the pure electric drive mode; 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 vehicle enters the pure electric drive mode; if I 实 <0.9I 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 vehicle enters the pure electric drive mode;

[0010] If I 实 <1.1I 额 , it means that the load of the traction motor is within the adjustment range at this time, and no hydraulic system intervention is required, entering the pure electric drive mode;

[0011] S22: Get the actual current I of the shearer traction motor实 , Rated current of the shearer traction motor I 额 , based on the actual torque T of the shearer traction motor 实 and the actual current of the shearer traction motor I 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, thus entering 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 in braking and parking, 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 in braking and parking, and the original braking method is used for braking and parking.

[0015] As a preferred method, in step 2, the actual pressure value of the hydraulically adjusted system is p Obtained through the following methods:

[0016] The pressure sensor connected to the rod cavity oil port of 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 of the hydraulic height adjustment system based on the pressure signal of the hydraulic height adjustment system p .

[0017] As a preferred embodiment, in step 2, the actual current I of the shearer traction motor is 实 Obtained through the following methods:

[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 method, in step 2, the rated current I of the shearer traction motor is obtained according to formula (1): 额 ;

[0020] (1);

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

[0022] The present invention provides a dynamic torque distribution strategy for the traction unit of an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control. This rule-based logic gate control strategy is an efficient and practical control method that is simple to understand, easy to implement, and stable and reliable. When applied to the electro-hydraulic hybrid system of a coal mining machine's traction unit, it analyzes the machine's real-time operating parameters (such as the optimal and actual torque of the traction motor, the hydraulic height adjustment system pressure, etc.) and, in combination with preset thresholds and logic rules, precisely controls key components of the hydraulic height adjustment system, such as the hydraulic motor. This allows for scientific and rational dynamic torque distribution based on the actual conditions of the electro-hydraulic hybrid system. This dynamic distribution method plays an important role in the electro-hydraulic hybrid control of the coal mining machine's traction unit. It not only rapidly responds to changes in the different states of the electro-hydraulic hybrid drive system, but also flexibly adjusts the power distribution state and operating mode (such as pure electric drive mode, hybrid drive mode, and work-supplementing mode) through logical judgment. This allows for precise control of the conversion and transmission of hydraulic and electrical energy, ensuring stable, reliable, and efficient operation of the electro-hydraulic hybrid system under various operating conditions.

[0023] 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. 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 based on the actual situation of the hydraulic height adjustment system, traction motor and load.

[0024] The implementation process of this method is simple, stable and reliable. It can supplement the torque and control the speed of the coal mining machine traction motor according to the actual working conditions of the coal mining machine traction part. 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 of the electro-hydraulic hybrid drive system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a flow chart of the present invention;

[0026] Figure 2 is a schematic diagram of the electric-hydraulic hybrid drive system of the present invention in a pure electric drive state;

[0027] Figure 3 is a schematic diagram of the electric-hydraulic hybrid drive system of the present invention in a hybrid drive state;

[0028] Figure 4 is a schematic diagram of the electro-hydraulic hybrid drive system of the present invention in a working and complementary state;

[0029] Figure 5 is a schematic diagram of the electro-hydraulic hybrid drive system of the present invention in a hybrid braking state;

[0030] Figure 6 It is a schematic diagram of the speed-torque characteristic curve in the present invention. DETAILED DESCRIPTION

[0031] The present invention will be further described below with reference to the accompanying drawings.

[0032] like Figures 1 to 6 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:

[0033] Step 1: Receive the output signal of the coal shearer remote control, and determine the current working condition of the coal shearer based on the output signal. If the coal shearer is currently in the traction and cutting working condition, execute step 2; if the coal shearer is currently in the braking and parking working condition, execute step 3;

[0034] Step 2: Determine whether the hydraulic height adjustment system is required to assist the traction motor-driven cutting operation based on 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 assisting the traction motor-driven cutting operation, and execute S21; if p < a, it indicates that the hydraulic height adjustment system cannot meet the requirements of assisting the traction motor-driven cutting operation, and execute S22;

[0035] S21: Get the actual current I of the shearer traction motor 实 , Rated current of the shearer traction motor I 额 , based on the actual torque T of the shearer traction motor 实 and the actual current of the shearer traction motor I 实 The relationship between the actual current I 实 and rated current I 额 The torque is distributed based on the comparison result;

[0036] 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, 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 vehicle enters the pure electric drive mode; 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 vehicle enters the pure electric drive mode; if I 实 <0.9I 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 vehicle enters the pure electric drive mode;

[0037] If I 实 <1.1I 额 , it means that the load of the traction motor is within the adjustment range at this time, and no hydraulic system intervention is required, entering the pure electric drive mode;

[0038] S22: Get the actual current I of the shearer traction motor 实 , Rated current of the shearer traction motor I 额 , based on the actual torque T of the shearer traction motor 实 and the actual current of the shearer traction motor I 实 The relationship between the actual current I 实 and rated current I 额 The torque is distributed based on the comparison result;

[0039] 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;

[0040] 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, thus entering the pure electric drive mode;

[0041] 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 in braking and parking, 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 in braking and parking, and the original braking method is used for braking and parking.

[0042] As a preferred method, in step 2, the actual pressure value of the hydraulically adjusted system is p Obtained through the following methods:

[0043] The pressure sensor connected to the rod cavity oil port of 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 of the hydraulic height adjustment system based on the pressure signal of the hydraulic height adjustment system p .

[0044] As a preferred embodiment, in step 2, the actual current I of the shearer traction motor is 实 Obtained through the following methods:

[0045] 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 .

[0046] As a preferred method, in step 2, the rated current I of the shearer traction motor is obtained according to formula (1): 额 ;

[0047] (1);

[0048] Where, P is the rated power of the traction motor, in kW; U is the rated voltage of the traction motor, in V; is the efficiency of the motor; is the power factor.

[0049] The present invention provides a dynamic torque distribution strategy for the traction unit of an electro-hydraulic hybrid coal mining machine based on rule-based logic gate control. This rule-based logic gate control strategy is an efficient and practical control method that is simple to understand, easy to implement, and stable and reliable. When applied to the electro-hydraulic hybrid system of a coal mining machine's traction unit, it analyzes the machine's real-time operating parameters (such as the optimal and actual torque of the traction motor, the hydraulic height adjustment system pressure, etc.) and, in combination with preset thresholds and logic rules, precisely controls key components of the hydraulic height adjustment system, such as the hydraulic motor. This allows for scientific and rational dynamic torque distribution based on the actual conditions of the electro-hydraulic hybrid system. This dynamic distribution method plays an important role in the electro-hydraulic hybrid control of the coal mining machine's traction unit. It not only rapidly responds to changes in the different states of the electro-hydraulic hybrid drive system, but also flexibly adjusts the power distribution state and operating mode (such as pure electric drive mode, hybrid drive mode, and work-supplementing mode) through logical judgment. This allows for precise control of the conversion and transmission of hydraulic and electrical energy, ensuring stable, reliable, and efficient operation of the electro-hydraulic hybrid system under various operating conditions.

[0050] 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. 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 based on the actual situation of the hydraulic height adjustment system, traction motor and load.

[0051] The implementation process of this method is simple, stable and reliable. It can supplement the torque and control the speed of the coal mining machine traction motor according to the actual working conditions of the coal mining machine traction part. 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 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 shearer remote control, and determine the current working condition of the coal shearer based on the output signal. If the coal shearer is currently in the traction and cutting working condition, execute step 2; if the coal shearer is currently in the braking and parking working condition, execute step 3; Step 2: Determine whether the hydraulic height adjustment system is required to assist the traction motor-driven cutting operation based on 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 assisting the traction motor-driven cutting operation, and execute S21; if p < a, it indicates that the hydraulic height adjustment system cannot meet the requirements of assisting the traction motor-driven cutting operation, and execute S22; S21: Get the actual current I of the shearer traction motor 实 , Rated current of the shearer traction motor I 额 , based on the actual torque T of the shearer traction motor 实 and the actual current of the shearer traction motor I 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, 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 vehicle enters the pure electric drive mode; 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 vehicle enters the pure electric drive mode; if I 实 <0.9I 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 vehicle enters the pure electric drive mode; If I 实 <1.1I 额 , it means that the load of the traction motor is within the adjustment range at this time, and no hydraulic system intervention is required, entering the pure electric drive mode; S22: Get the actual current I of the shearer traction motor 实 , Rated current of the shearer traction motor I 额 , based on the actual torque T of the shearer traction motor 实 and the actual current of the shearer traction motor I 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, thus entering 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 in braking and parking, 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 in braking and parking, and the original braking method is used for braking and parking.

2. 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 pressure value of the hydraulic pressure system is increased p Obtained through the following methods: The pressure sensor connected to the rod cavity oil port of 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 of the hydraulic height adjustment system based on the pressure signal of the hydraulic height adjustment system p .

3. 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 current I of the shearer traction motor 实 Obtained through the following methods: 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. 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 rated current I of the shearer traction motor is obtained according to formula (1): 额 ; （1）； Where, P is the rated power of the traction motor, in kW; U is the rated voltage of the traction motor, in V; is the efficiency of the motor; is the power factor.

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