Hydraulic frequency conversion hybrid drive based adaptive control method for loading of mining equipment

Abstract

The present application belongs to the technical field of roadway tunneling. In order to solve the problem that the existing loading and unloading system cannot realize self-adaptive speed regulation by monitoring the size of coal quantity, a loading and unloading adaptive control method based on hydraulic frequency conversion hybrid drive of mining equipment is provided. The method obtains the detection signal related to the coal quantity on the loading equipment, constructs a loading and unloading main control model, and outputs the given value of the output signal of the loading equipment and the transport equipment based on the preset boundary condition and the detection signal related to the coal quantity. The actual value of the output signal of the loading equipment and the transport equipment is obtained, and the loading control model and the transport control model are constructed. The loading control model controls the actual value of the output signal of the loading equipment to approach the given value of the output signal of the loading equipment based on the PID algorithm, while the transport control model controls the actual value of the output signal of the transport equipment to approach the given value of the output signal of the transport equipment based on the PID algorithm, so as to realize self-adaptive speed regulation, reduce the equipment failure rate and improve the production efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of roadway excavation, and particularly relates to a mining and excavation equipment loading and transporting adaptive control method based on a hydraulic frequency conversion hybrid drive. BACKGROUND

[0002] The rapid excavation system based on the tunneling and anchoring integrated machine as a leader is the core equipment for the rapid roadway mining of coal mines at present. The loading and transporting system of the current tunneling and anchoring integrated machine adopts constant speed driving. However, for semi-coal rock, the speed is slow and the loading amount is small when cutting rock, and the speed is fast and the loading amount is large when cutting coal. When the loading and transporting system runs at a constant speed, unnecessary wear of the scraper and chain is inevitably caused. Therefore, the engine is run at an idle speed when the material is small, and the engine is run at a high speed when the material is large. At the same time, there are adverse working conditions such as spalling and passing through a fault in the excavation process. At this time, the coal falling amount will appear the extreme conditions of too much or too little, which causes the rake of the front loading mechanism to be blocked or the scraper chain of the rear transporting mechanism to be blocked by rock debris, and further delays the excavation footage. SUMMARY

[0003] In order to solve the above technical problems, the application provides a mining and excavation equipment loading and transporting adaptive control method based on a self-adaptive speed regulation hydraulic frequency conversion hybrid drive.

[0004] The application provides a mining and excavation equipment loading and transporting adaptive control method based on a hydraulic frequency conversion hybrid drive, which comprises the following steps:

[0005] obtaining a detection signal related to the coal falling amount of the loading device;

[0006] constructing a loading and transporting main control model, the loading and transporting main control model outputs a given value of the loading device output signal and the transporting device output signal based on a preset boundary condition and the detection signal related to the coal falling amount;

[0007] obtaining actual values of the loading device output signal and the transporting device output signal;

[0008] constructing a loading control model and a transporting control model, the loading control model controls the actual value of the loading device output signal to approximate the given value of the loading device output signal based on a PID algorithm, and at the same time, the transporting control model controls the actual value of the transporting device output signal to approximate the given value of the transporting device output signal based on a PID algorithm.

[0009] Optionally, when the loading device is a loading motor and the transporting device is a transporting motor, the detection signal related to the coal falling amount is a loading pressure, the loading and transporting main control model outputs a given value of the loading flow to the loading control model, and the loading and transporting main control model outputs a given value of the transporting rotating speed to the transporting control model;

[0010] The loading control model simultaneously obtains an actual value of a loading flow of the loading motor, and controls an output of the loading electromagnetic valve controller based on a PID algorithm, so that the actual value of the loading flow of the loading motor approaches a given value of the loading flow.

[0011] The transportation control model simultaneously obtains an actual value of a transportation rotation speed of the transportation motor, and controls an output of the transportation frequency conversion controller based on a PID algorithm, so that the actual value of the transportation rotation speed of the transportation motor approaches a given value of the transportation rotation speed.

[0012] Optionally, when the loading device is a loading motor and the transportation device is a transportation motor, the detection signal related to the coal falling amount is a loading active current, the loading and transportation main control model outputs the given value of the loading rotation speed to the loading control model, and the loading and transportation main control model outputs the given value of the transportation flow to the transportation control model.

[0013] The loading control model simultaneously obtains an actual value of a loading rotation speed of the loading motor, and controls an output of the loading frequency conversion controller based on a PID algorithm, so that the actual value of the loading rotation speed of the loading motor approaches a given value of the loading rotation speed.

[0014] The transportation control model simultaneously obtains an actual value of a transportation flow of the transportation motor, and controls an output of the transportation electromagnetic valve controller based on a PID algorithm, so that the actual value of the transportation flow of the transportation motor approaches a given value of the transportation flow.

[0015] Optionally, the coal and rock cutting information is obtained, and a coal and rock identification model is constructed, the coal and rock identification model obtains a coal and rock state of a current roadway based on the coal and rock cutting information, and outputs preset boundary conditions, and the preset boundary conditions can also be manually input based on an observation situation of the current roadway.

[0016] The coal and rock cutting information includes a cutting vibration signal, a cutting current signal, a cutting traction speed, and a cutting head pose.

[0017] Optionally, when the loading device is a loading motor and the transportation device is a transportation motor, the coal and rock identification model obtains a current roadway type, the current roadway type includes a coal roadway, a rock roadway, and a semi-coal and rock roadway, the preset boundary conditions are boundary values of the loading flow and the transportation rotation speed, and the loading control model and the transportation control model respectively adjust the boundary values of the loading flow and the transportation rotation speed in proportion according to a proportion of the coal and rock.

[0018] Optionally, when the loading device is a loading motor and the transportation device is a transportation motor, the coal and rock identification model obtains a current roadway type, the current roadway type includes a coal roadway, a rock roadway, and a semi-coal and rock roadway, the preset boundary conditions are boundary values of the loading flow and the transportation rotation speed, and the loading control model and the transportation control model respectively adjust the boundary values of the loading flow and the transportation rotation speed in proportion according to a proportion of the coal and rock.

[0019] Optionally, when the loading device is a loading motor and the transportation device is a transportation motor, the loading and transportation main control model comprises a stage controller and a continuous controller;

[0020] The stage controller detects the actual value of the loading pressure in segments, and outputs a given value of the loading flow rate corresponding to the actual value of the loading pressure in each segment, the maximum value of the given value of the loading flow rate being 50-180 L / min;

[0021] The continuous controller outputs a given value of the loading flow rate based on the actual value of the loading pressure,

[0022] The continuous controller:

[0023] Q = 7 x P

[0024] wherein Q is the given value of the loading flow rate, and P is the loading pressure.

[0025] Optionally, when the loading device is a loading motor and the transportation device is a transportation motor, the loading and transportation main control model comprises a stage controller and a continuous controller;

[0026] The stage controller detects the actual value of the loading active current in segments, and outputs a given value of the loading rotation speed corresponding to the actual value of the loading active current in each segment, the maximum value of the given value of the loading rotation speed being 500-3000 r / min;

[0027] The continuous controller outputs a given value of the loading rotation speed based on the actual value of the loading active current,

[0028] The continuous controller:

[0029] N = 27.8 I + 400

[0030] wherein N is the given value of the loading rotation speed, and I is the loading active current.

[0031] Optionally, the loading control model further obtains the actual value of the loading pressure, and when the actual value of the loading pressure obtained by the loading control model is greater than 25 MPa and the actual value of the loading flow rate is less than 5 L / min, it is judged that the first loading rake claw is blocked by coal and rock, a warning prompt is issued, and the output of the loading solenoid valve controller is stopped, and the loading work is stopped.

[0032] The transportation control model further obtains the actual value of the transportation current, and when the actual value of the transportation current obtained by the transportation control model is greater than 50 A and the actual value of the transportation rotation speed is less than 100 r / min, it is judged that the scraper chain is blocked by coal and rock, a warning prompt is issued, and the outputs of the transportation frequency conversion controller and the loading solenoid valve controller are stopped, and the transportation and loading work are stopped.

[0033] Optionally, the loading control model also acquires an actual value of the loading active current, when the actual value of the loading active current acquired by the loading control model is greater than 50A and the actual value of the loading rotating speed is less than 100r / min, it is judged that the second loading rake appears coal rock blockage, a warning prompt is sent out, and the output of the loading frequency conversion controller is stopped, and the loading work is stopped;

[0034] The transport control model also acquires an actual value of the transport pressure, when the actual value of the transport pressure acquired by the transport control model is greater than 25Mpa and the actual value of the transport flow is less than 5L / min, it is judged that the scraper chain appears coal rock blockage, a warning prompt is sent out, and the output of the transport electromagnetic valve controller and the loading frequency conversion controller is stopped, and the transport and loading work is stopped.

[0035] Compared with the prior art, the technical scheme provided by the embodiment of the present application has the following beneficial effects:

[0036] The adaptive control method of the mining and loading equipment based on the hydraulic frequency conversion mixed drive provided by the embodiment of the present application drives the loading system or the transport system to run through the hydraulic motor or the frequency conversion motor, the loading and transport main control model can output the given value of the loading equipment and the transport equipment output signal by acquiring the detection signal related to the coal falling amount and the preset boundary condition, so as to judge the stacking condition of the current mining and loading equipment, that is, judge how much the coal falling amount is, the loading control model and the transport control model are constructed, the loading control model and the transport control model acquire the actual value of the loading equipment and the transport equipment output signal respectively, the loading control model controls the actual value of the loading equipment output signal to approach the given value of the loading equipment output signal based on the PID algorithm, and the transport control model controls the actual value of the transport equipment output signal to approach the given value of the transport equipment output signal based on the PID algorithm, so as to adjust the hydraulic motor flow or the motor rotating speed to realize adaptive speed regulation, reduce the equipment failure rate, and improve the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0037] The drawings incorporated into the specification and constituting a part of the specification show embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application.

[0038] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows, and obviously, other drawings can also be obtained by those skilled in the art without creative labor.

[0039] Figure 1 The flow chart of the adaptive control method of the hydraulic drive loading system and the frequency conversion drive transport system described in the embodiments of the present application;

[0040] Figure 2 A schematic diagram of a piecewise control model for the hydraulic drive loading system described in embodiments of the invention;

[0041] Figure 3 A schematic diagram of a continuous control model for the hydraulic drive loading system described in embodiments of the invention;

[0042] Figure 4 A schematic diagram of a piecewise control model for the variable frequency drive transport system described in embodiments of the invention;

[0043] Figure 5 A schematic diagram of a continuous control model for the variable frequency drive transport system described in embodiments of the invention;

[0044] Figure 6 A schematic diagram of the loading and transport system for the hydraulic drive loading system, variable frequency drive transport system described in embodiments of the invention;

[0045] Figure 7 A schematic diagram of the loading and transport system for the hydraulic drive loading system, variable frequency drive transport system described in embodiments of the invention from another perspective;

[0046] Figure 8 A flowchart of the adaptive control method for the variable frequency drive loading system, hydraulic drive transport system described in embodiments of the invention;

[0047] Figure 9 A schematic diagram of a piecewise control model for the variable frequency drive loading system described in embodiments of the invention;

[0048] Figure 10 A schematic diagram of a continuous control model for the variable frequency drive loading system described in embodiments of the invention;

[0049] Figure 11 A schematic diagram of a piecewise control model for the hydraulic drive transport system described in embodiments of the invention;

[0050] Figure 12 A schematic diagram of a continuous control model for the hydraulic drive transport system described in embodiments of the invention;

[0051] Figure 13 A schematic diagram of the loading and transport system for the variable frequency drive loading system, hydraulic drive transport system described in embodiments of the invention;

[0052] Figure 14 A schematic diagram of the loading and transport system for the variable frequency drive loading system, hydraulic drive transport system described in embodiments of the invention from another perspective.

[0053] Wherein, 1, loading motor; 2, first loading reducer; 3, first middle transport groove; 4, transport motor; 5, first transport reducer; 6, first loading rake claw; 7, loading motor; 8, second loading reducer; 9, second middle transport groove; 10, transport motor; 11, second transport reducer; 12, second loading rake claw. DETAILED DESCRIPTION

[0054] In order to enable the above-mentioned objects, features and advantages of the present application to be more clearly understood, the following will further describe the solutions of the present application. 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.

[0055] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be practiced in other ways different from those described herein; obviously, the embodiments in the description are only some embodiments of the present application, not all the embodiments.

[0056] Reference Figure 1 and Figure 8 As shown in the drawings, the embodiment provides a loading and transporting adaptive control method based on a hydraulic frequency conversion hybrid drive mining equipment, specifically comprising:

[0057] Obtaining a detection signal related to the coal falling amount on the loading device;

[0058] Constructing a loading and transporting main control model, the loading and transporting main control model outputs a given value of the loading device output signal and the transport device output signal based on the preset boundary condition and the detection signal related to the coal falling amount;

[0059] Obtaining actual values of the loading device output signal and the transport device output signal;

[0060] Constructing a loading control model and a transport control model, the loading control model controls the actual value of the loading device output signal to approximate the given value of the loading device output signal based on a PID model; at the same time, the transport control model controls the actual value of the transport device output signal to approximate the given value of the transport device output signal based on a PID model.

[0061] Specifically, the embodiment takes the mining-anchor integrated machine as an example, when the loading device is the loading motor 1 and the transport device is the transport motor 4, that is, when the hydraulic drive loading system and the frequency conversion drive transport system are adopted, the detection signal related to the coal falling amount is the loading pressure, the loading and transporting main control model outputs the given value of the loading flow to the loading control model, and the loading and transporting main control model outputs the given value of the transport rotating speed to the transport control model, that is, by obtaining the loading pressure, the stacking condition of the shovel plate of the mining-anchor integrated machine can be determined, so as to determine the given value of the loading flow and the given value of the transport rotating speed output by the loading and transporting main control model.

[0062] When the loading pressure increases, it indicates that the material on the shovel plate increases, at this time, the loading flow of the loading motor 1 and the transport speed of the transport motor 4 are increased to timely transport the material, when the loading pressure decreases, it indicates that the material on the shovel plate decreases, at this time, the loading flow of the loading motor 1 and the transport speed of the transport motor 4 are decreased, thereby reducing the consumption of system energy consumption and the wear of the scraper conveyor and the first loading rake claw 6, wherein the given value of the loading flow output by the loading main control model is timely sent to the loading control model, when the given value of the transport speed output by the loading main control model becomes large, it is timely sent to the transport control model, when the given value of the transport speed output becomes small, it needs to be sent to the transport control model after a corresponding delay according to the actual value of the current transport speed and the length of the scraper chain.

[0063] The loading control model simultaneously obtains the actual value of the loading flow of the loading motor 1, and the loading control model controls the output of the loading electromagnetic valve controller based on the PID algorithm to make the actual value of the loading flow of the loading motor 1 approach the given value of the loading flow; the transport control model simultaneously obtains the actual value of the transport speed of the transport motor 4, and the transport control model controls the output of the transport frequency conversion controller based on the PID algorithm to make the actual value of the transport speed of the transport motor 4 approach the given value of the transport speed.

[0064] Further, the loading main control model includes a staged controller and a continuous controller, as shown in Figure 2 The staged controller detects the actual value of the loading pressure in sections, outputs the given value of the loading flow corresponding to the actual value of the loading pressure in each section, and the maximum value of the given value of the loading flow is 50-180 L / min. The staged controller detects the actual value of the loading pressure in two or more sections, and usually detects the actual value of the loading pressure in 3-7 sections. When the maximum value of the given value of the loading flow decreases from 180 L / min to 50 L / min due to changes in the machine type, the given value of the loading flow output by each section of the staged controller is reduced in proportion, and the continuous controller is also reduced in proportion. The given value of the loading flow output by a certain section of the staged controller is generally the average of the given value of the loading flow output by the next section and the given value of the loading flow output by the previous section. Specifically, when the loading pressure is 0-5 Mpa, the given value of the loading flow is 20 L / min; when the loading pressure is 5-10 Mpa, the given value of the loading flow is 60 L / min; when the loading pressure is 10-15 Mpa, the given value of the loading flow is 100 L / min; when the loading pressure is 15-20 Mpa, the given value of the loading flow is 140 L / min; and when the loading pressure is 20-25 Mpa, the given value of the loading flow is 180 L / min. Figure 3As shown, the continuous controller outputs the given value of the loading flow rate based on the actual value of the loading pressure. Specifically, the given value of the loading flow rate increases linearly with the loading pressure obtained from the main control model of the shipment, such as Q = 7 × P, where Q is the given value of the loading flow rate and P is the loading pressure.

[0065] The model for the given value of the transport rotation speed output by the main control model includes two types: staged controller and continuous controller. (Refer to...) Figure 4 As shown, the staged controller performs segmented detection based on the actual value of the loading pressure, outputting a setpoint for the transport speed corresponding to the actual value of the loading pressure for each segment. The maximum value of the setpoint for the transport speed is 500-3000 r / min. The staged controller divides the loading pressure into two or more segments for detection, typically 3-7 segments. The maximum value of the setpoint for the transport speed is 500-3000 r / min. When the machine model changes, and the maximum value of the setpoint for the transport speed decreases from 3000 r / min to 500 r / min, the setpoints for the transport speed output by each segment in the staged controller decrease proportionally, and the continuous controller also decreases proportionally. The setpoint for the transport speed output by a certain segment of the staged controller is generally the sum of the setpoints for the next segment and the setpoints for the previous segment. The average value of the given transport speed is as follows: 400 r / min for a loading pressure of 0-5 MPa; 650 r / min for a loading pressure of 5-10 MPa; 900 r / min for a loading pressure of 10-15 MPa; 1150 r / min for a loading pressure of 15-20 MPa; and 1400 r / min for a loading pressure of 20-25 MPa. (Refer to...) Figure 5 As shown, in the continuous controller, the given value of the transport speed increases linearly with the loading pressure obtained from the main control model of the loading, such as N = 56 × P, where N is the given value of the transport speed and P is the loading pressure in MPa.

[0066] When the loading device is loading motor 1 and the transport device is transport motor 4, the loading control model also acquires the actual value of the loading pressure. When the actual value of the loading pressure acquired by the loading control model is greater than 25 MPa and the actual value of the loading flow rate is less than 5 L / min, it is determined that the first loading rake 6 is stuck in coal and rock, a warning is issued, and the output of the loading solenoid valve controller is stopped, thus stopping the loading operation. The transport control model also acquires the actual value of the transport current. When the actual value of the transport current acquired by the transport control model is greater than 50 A and the actual value of the transport speed is less than 100 r / min, it is determined that the scraper chain is stuck in coal and rock, a warning is issued, and the output of the transport frequency converter controller and the loading solenoid valve controller is stopped, thus stopping the transport and loading operations.

[0067] When the loading device is the loading motor 7 and the transportation device is the transportation motor 10, that is, when the loading system is driven by a variable frequency drive and the transportation system is driven by a hydraulic drive, the detection signal related to the coal falling amount is the loading active current, the loading active current is calculated based on the loading apparent current and the power factor, the loading main control model outputs the given value of the loading speed to the loading control model, and the loading main control model outputs the given value of the transportation flow to the transportation control model, that is, by obtaining the loading active current, the material stacking condition on the shovel plate of the combined excavator and anchor machine can be determined, so as to determine the given value of the loading speed and the given value of the transportation flow.

[0068] The loading main control model simultaneously obtains the loading apparent current and the power factor, and when the power factor is less than 0.8, the power factor is used to adjust the loading speed, and when the power factor is greater than 0.8, the loading apparent current is used to adjust the loading speed, so that the loading motor 7 and the transportation motor 10 are used in the constant torque interval, and are prevented from entering the constant power interval. Specifically, when the loading active current increases, it indicates that the material on the shovel plate increases, at this time, the loading speed of the loading motor 7 and the transportation flow of the transportation motor 10 are increased, so that the material is transported in time, and when the loading active current decreases, it indicates that the material on the shovel plate decreases, at this time, the loading speed of the loading motor 7 and the transportation flow of the transportation motor 10 are decreased, so as to reduce the consumption of system energy consumption and the abrasion of the scraper conveyor and the second loading rake claw 12. The given value of the loading speed output by the loading main control model is sent to the loading control model in time, and when the given value of the transportation flow output by the loading main control model increases, it is sent to the transportation control model in time, and when the given value of the transportation flow decreases, it needs to be sent to the transportation control model after being delayed for a corresponding time according to the current transportation speed and the length of the scraper chain channel.

[0069] The loading control model simultaneously obtains the actual value of the loading speed of the loading motor 7, and the loading control model controls the output of the loading variable frequency controller based on the PID algorithm, so that the actual value of the loading speed of the loading motor 7 approaches the given value of the loading speed; the transportation control model simultaneously obtains the actual value of the transportation flow of the transportation motor 10, and the transportation control model controls the output of the transportation electromagnetic valve controller based on the PID algorithm, so that the actual value of the transportation flow of the transportation motor 10 approaches the given value of the transportation flow.

[0070] Further, when the loading device is the loading motor 7 and the transportation device is the transportation motor 10, the loading main control model includes a stage controller and a continuous controller, which are described with reference to Figure 9As shown, the phased controller detects the actual value of the loading active current in segments, outputs the given value of the loading rotation speed corresponding to the actual value of the loading active current in each segment, and the maximum value of the given value of the loading rotation speed is 500-3000 r / min. The phased controller detects the actual value of the loading active current in two or more segments, usually in 3-7 segments. The maximum value of the given value of the loading rotation speed is 500-3000 r / min. When the machine type changes, the maximum value of the given value of the loading rotation speed decreases from 3000 r / min to 500 r / min, and the given value of the loading rotation speed output by each segment in the phased controller is reduced in proportion, and the continuous controller is also reduced in proportion. Among them, the given value of the loading rotation speed output by a segment in the phased controller is generally the average of the given value of the loading rotation speed output by the next segment and the given value of the loading rotation speed output by the previous segment. Specifically, when the loading active current is 5-10 A, the given value of the loading rotation speed is 400 r / min; when the loading active current is 10-15 A, the given value of the loading rotation speed is 600 r / min; when the loading active current is 15-20 A, the given value of the loading rotation speed is 800 r / min; when the loading active current is 20-25 A, the given value of the loading rotation speed is 1000 r / min; when the loading active current is 25-30 A, the given value of the loading rotation speed is 1200 r / min; when the loading active current is 30-35 A, the given value of the loading rotation speed is 1400 r / min; refer to Figure 10 As shown, the continuous controller outputs the given value of the loading rotation speed based on the actual value of the loading active current. The given value of the loading rotation speed increases linearly with the loading active current obtained by the loading main control model, such as N=27.8I+400, where N is the given value of the loading rotation speed, and I is the loading active current.

[0071] The model of the given value of the transport flow output by the transport main control model includes two kinds of phased controllers and continuous controllers, refer to Figure 11As shown, the staging controller detects the actual value of the loading active current in stages, and outputs the given value of the transport flow corresponding to each stage of the loading active current, and the maximum value of the given value of the transport flow is 50-180 L / min. The staging controller detects the actual value of the loading active current in two or more stages, usually in 3-7 stages, and the maximum value of the given value of the transport flow is 50-180 L / min. When the model changes, the maximum value of the given value of the transport flow decreases from 180 L / min to 50 L / min, and the given value of the transport flow output by each stage of the staging controller is reduced in proportion, and the continuous controller is also reduced in proportion. Among them, the given value of the transport flow output by a certain stage of the staging controller is generally the average of the given value of the transport flow output by the next stage and the given value of the transport flow output by the previous stage. Specifically, when the loading active current is 5-10 A, the given value of the transport flow is 20 L / min; when the loading active current is 10-15 A, the given value of the transport flow is 50 L / min; when the loading active current is 15-20 A, the given value of the transport flow is 80 L / min; when the loading active current is 20-25 A, the given value of the transport flow is 110 L / min; when the loading active current is 25-30 A, the given value of the transport flow is 140 L / min; when the loading active current is 30-35 A, the given value of the transport flow is 170 L / min. Referring to Figure 12 As shown, the given value of the transport flow in the continuous controller increases linearly with the loading active current obtained by the loading main control model, such as Q=4×I, where Q is the given value of the transport flow and I is the loading active current.

[0072] When the loading device is the loading motor 7 and the transport device is the transport motor 10, the loading control model also obtains the actual value of the loading active current. When the actual value of the loading active current obtained by the loading control model is greater than 50 A and the actual value of the loading speed is less than 100 r / min, it is judged that the second loading rake 12 is blocked by coal and rock, a warning prompt is issued, and the output of the loading frequency converter controller is stopped, and the loading work is stopped. The transport control model also obtains the actual value of the transport pressure. When the actual value of the transport pressure obtained by the transport control model is greater than 25 Mpa and the actual value of the transport flow is less than 5 L / min, it is judged that the scraper chain is blocked by coal and rock, a warning prompt is issued, and the outputs of the transport solenoid valve controller and the loading frequency converter controller are stopped, and the transport and loading work is stopped.

[0073] The adaptive control method provided in the embodiment further comprises obtaining coal and rock cutting information, constructing a coal and rock identification model, the coal and rock identification model obtaining the coal and rock state of the current roadway based on the coal and rock cutting information, and outputting preset boundary conditions, the preset boundary conditions also being manually input based on the observation of the current roadway; the coal and rock cutting information comprises cutting vibration signals, cutting current signals, cutting traction speed and cutting head pose.

[0074] Further, when the loading device is the loading motor 1 and the transportation device is the transportation motor 4, that is, the hydraulic drive loading system and the variable frequency drive transportation system are adopted, the coal and rock identification model obtains the current roadway type, the current roadway type comprising a coal roadway, a rock roadway and a semi-coal and rock roadway, and the preset boundary conditions are the boundary values of the loading flow and the boundary values of the transportation rotating speed, that is, the maximum and minimum values of the loading flow and the maximum and minimum values of the transportation rotating speed, the loading control model and the transportation control model respectively adjusting the boundary values of the loading flow and the boundary values of the transportation rotating speed in proportion according to the proportion of the coal and rock, specifically, when the coal and rock identification model obtains that the current roadway is the coal roadway, the maximum and minimum values of the loading flow and the maximum and minimum values of the transportation rotating speed are increased; when the coal and rock identification model obtains that the current roadway is the rock roadway, the maximum and minimum values of the loading flow and the maximum and minimum values of the transportation rotating speed are reduced; when the coal and rock identification model obtains that the current roadway is the semi-coal and rock, the maximum and minimum values of the loading flow and the maximum and minimum values of the transportation rotating speed are adjusted in proportion according to the proportion of the coal and rock, that is, when the rock is cut, the coal falling amount is reduced at this time, the loading flow and the transportation rotating speed are reduced to realize speed reduction, and when the coal is cut, the coal falling amount is increased at this time, the loading flow and the transportation rotating speed are increased to realize speed increase.

[0075] When the loading equipment is a loading motor 7 and the transport equipment is a transport motor 10, i.e., a variable frequency drive loading system and a hydraulic drive transport system are used, the coal and rock identification model obtains the current roadway type, which includes coal roadways, rock roadways, and semi-coal and rock roadways. The preset boundary conditions are the boundary values ​​of the loading speed and the transport flow rate, i.e., the maximum and minimum values ​​of the loading speed and the maximum and minimum values ​​of the transport flow rate. The loading control model and the transport control model adjust the boundary values ​​of the loading speed and the transport flow rate proportionally according to the proportion of coal and rock. Specifically, when the coal and rock identification model determines that the current roadway is a coal roadway, the loading speed is increased... The maximum and minimum values ​​of loading speed and transport flow rate are set. When the coal-rock identification model determines that the current roadway is a rock roadway, the maximum and minimum values ​​of loading speed and transport flow rate are reduced. When the coal-rock identification model determines that the current roadway is half coal and rock, the maximum and minimum values ​​of loading speed and transport flow rate are adjusted proportionally according to the proportion of coal and rock. That is to say, when rock is cut, the amount of coal falling is reduced, and the speed is reduced by decreasing the loading speed and transport flow rate. When coal is cut, the amount of coal falling is increased, and the speed is increased by increasing the loading speed and transport flow rate.

[0076] This embodiment takes a tunneling and anchoring machine as an example. When the loading device is a loading motor 1 and the transportation device is a transportation motor 4, that is, when a hydraulically driven loading system and a frequency-controlled transportation system are used, refer to... Figure 6 and Figure 7 As shown, the loading section of this integrated excavator and anchorer consists of a first main shovel, left and right first telescopic shovels, left and right first loading rakes 6, a loading motor 1, a first loading reducer 2, a loading pressure sensor, and a loading flow sensor. The star wheel is directly driven by the loading motor 1 and the first loading reducer 2. The transport section includes a first front transport trough, a first middle transport trough 3, and a first transport tail section. The conveyor chain adopts a single-chain swing scraper conveyor chain. The conveyor chain is driven by two sets of transport motors 4 and the first transport reducer 5 jointly driving the sprocket. The loading pressure sensor and the loading flow sensor are both located between the loading electro-hydraulic proportional valve and the loading motor 1. The transport current sensor and the transport power sensor are installed inside the transport motor 4 and are integrated with explosion-proof treatment. The transport motor 4 is an explosion-proof motor. The transport current sensor and the transport power sensor can directly measure and record the real-time current and power of the transport motor 4.

[0077] This embodiment takes a tunneling and anchoring machine as an example. When the loading device is a loading motor 7 and the transportation device is a transportation motor 10, that is, when a variable frequency drive loading system and a hydraulic drive transportation system are used, refer to... Figure 13 and Figure 14As shown, the loading part of the integrated anchor digging machine is composed of a second main shovel plate, left and right second telescopic shovel plates, left and right second loading rakes 12, a loading motor 7, a second loading reducer 8, a loading current sensor and a loading power sensor, the loading current sensor and the loading power sensor are installed inside the loading motor 7 and are subjected to integrated explosion-proof treatment, the loading motor 7 is an explosion-proof motor, the loading current sensor and the loading power sensor can directly measure and record the real-time current and power of the loading motor 7, the star wheel is directly driven by the loading motor 7 and the second loading reducer 8, the transportation part includes a second front transportation groove, a second middle transportation groove 9 and a second transportation tail three parts, the conveying chain adopts a single-chain oscillating scraper conveying chain, the driving of the conveying chain is realized by two groups of transportation motors 10 and a second transportation reducer 11 commonly driving the chain wheel, and the transportation pressure sensor and the transportation flow sensor are both arranged between the transportation electro-hydraulic proportional valve and the transportation motor 10.

[0078] The embodiment of the present application provides a kind of based on hydraulic frequency conversion hybrid drive's mining equipment loading adaptive control method, by hydraulic motor or variable frequency motor drive loading system or transportation system operation, according to coal rock identification model identifies the coal rock state of current roadway and according to the driving mode to set boundary condition, or by observing current roadway situation and driving mode manually set boundary condition, by obtaining loading pressure or loading active current and input into loading main control model, loading main control model judges the current mining equipment heap material condition according to loading pressure or loading active current, i.e. judge the amount of coal, and then adjust the flow of hydraulic motor or motor speed to realize adaptive speed regulation, reduce equipment failure rate, improve production efficiency.

[0079] It should be noted that, in this document, relational terms such as“first” and“second”, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms“comprises”,“comprising”, or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by“comprises a...” does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0080] The foregoing is considered as illustrative only of the principles of the application. Numerous modifications and changes will readily occur to those skilled in the art, and it is intended to embrace all such modifications and changes that fall within the scope of the application. Accordingly, the application is not to be restricted in scope to the specific embodiments disclosed herein but is to be accorded the full scope that the principles and novel features request appropriately granted.

Claims

1. A mining equipment loading adaptive control method based on a hydraulic frequency conversion hybrid drive, characterized by, The application relates to a coal-rock cutting information acquisition device, a coal-rock identification model, a loading main control model and a transportation main control model. The coal-rock identification model obtains the coal-rock state of the current roadway based on the coal-rock cutting information and outputs preset boundary conditions. When the loading device is a loading motor (1) and the transportation device is a transportation motor (4), the coal-rock identification model obtains the current roadway type, and the preset boundary conditions are the boundary values of the loading flow and the boundary values of the transportation rotating speed, namely the maximum and minimum values of the loading flow and the maximum and minimum values of the transportation rotating speed; the loading control model and the transportation control model proportionally adjust the boundary values of the loading flow and the boundary values of the transportation rotating speed according to the proportion of the coal rock; the roadway type includes a coal roadway, a rock roadway and a semi-coal rock roadway; when the coal-rock identification model obtains that the current roadway is a coal roadway, the maximum and minimum values of the loading flow and the maximum and minimum values of the transportation rotating speed are increased; when the coal-rock identification model obtains that the current roadway is a rock roadway, the maximum and minimum values of the loading flow and the maximum and minimum values of the transportation rotating speed are reduced; and when the coal-rock identification model obtains that the current roadway is a semi-coal rock roadway, the maximum and minimum values of the loading flow and the maximum and minimum values of the transportation rotating speed are proportionally adjusted according to the proportion of the coal rock. When the loading device is the loading motor (1) and the transportation device is the transportation motor (4), the detection signal related to the coal falling amount is the loading pressure; the loading main control model outputs the given value of the loading flow to the loading control model, and the loading main control model outputs the given value of the transportation rotating speed to the transportation control model. The loading control model simultaneously obtains the actual value of the loading flow of the loading motor (1), the loading control model controls the output of the loading electromagnetic valve controller based on the PID algorithm, and the actual value of the loading flow of the loading motor (1) approaches the given value of the loading flow; the transportation control model simultaneously obtains the actual value of the transportation rotating speed of the transportation motor (4), the transportation control model controls the output of the transportation frequency conversion controller based on the PID algorithm, and the actual value of the transportation rotating speed of the transportation motor (4) approaches the given value of the transportation rotating speed. ​ When the loading device is a loading motor (7) and the transportation device is a transportation motor (10), the coal rock identification model obtains a current roadway type, the current roadway type includes a coal roadway, a rock roadway and a semi-coal rock roadway, preset boundary conditions are boundary values of a loading rotating speed and a transportation flow rate, that is, maximum and minimum values of the loading rotating speed and maximum and minimum values of the transportation flow rate, and the loading control model and the transportation control model proportionally adjust the boundary values of the loading rotating speed and the transportation flow rate according to a proportion of the coal rock. When the loading device is a loading motor (7) and the transportation device is a transportation motor (10), a detection signal related to the coal falling amount is a loading active current, the loading control model outputs a given value of the loading rotating speed, and the transportation control model outputs a given value of the transportation flow rate. The loading control model simultaneously obtains an actual value of the loading rotating speed of the loading motor (7), and controls an output of a loading frequency conversion controller based on a PID algorithm, so that the actual value of the loading rotating speed of the loading motor (7) approaches the given value of the loading rotating speed; the transportation control model simultaneously obtains an actual value of the transportation flow rate of the transportation motor (10), and controls an output of a transportation electromagnetic valve controller based on a PID algorithm, so that the actual value of the transportation flow rate of the transportation motor (10) approaches the given value of the transportation flow rate.

2. The loading adaptive control method of the mining equipment based on the hydraulic frequency conversion hybrid drive according to claim 1, characterized in that, The coal rock cutting information includes a cutting vibration signal, a cutting current signal, a cutting traction speed and a cutting head pose.

3. The adaptive control method for the loading of mining equipment based on the hydraulic frequency conversion hybrid drive according to claim 2, characterized in that, When the loading device is a loading motor (7) and the transportation device is a transportation motor (10), the coal rock identification model obtains a current roadway type, the current roadway type includes a coal roadway, a rock roadway and a semi-coal rock roadway, preset boundary conditions are boundary values of a loading rotating speed and a transportation flow rate, that is, maximum and minimum values of the loading rotating speed and maximum and minimum values of the transportation flow rate, and the loading control model and the transportation control model proportionally adjust the boundary values of the loading rotating speed and the transportation flow rate according to a proportion of the coal rock.

4. The loading adaptive control method of the mining equipment based on the hydraulic frequency conversion hybrid drive according to claim 2, characterized in that, When the loading device is a loading motor (7) and the transportation device is a transportation motor (10), the coal rock identification model obtains a current roadway type, the current roadway type includes a coal roadway, a rock roadway and a semi-coal rock roadway, preset boundary conditions are boundary values of a loading rotating speed and a transportation flow rate, that is, maximum and minimum values of the loading rotating speed and maximum and minimum values of the transportation flow rate, and the loading control model and the transportation control model proportionally adjust the boundary values of the loading rotating speed and the transportation flow rate according to a proportion of the coal rock.

5. The method of claim 1, wherein, When the loading device is a loading motor (1) and the transportation device is a transportation motor (4), the loading and transportation main control model includes a stage controller and a continuous controller. The staged controller outputs a given value of the loading flow rate corresponding to the actual value of the loading pressure in each segment based on segmented detection of the actual value of the loading pressure, and the maximum value of the given value of the loading flow rate is 50-180 L / min; The continuous controller outputs a given value of the loading flow rate based on the actual value of the loading pressure, The continuous controller: wherein, is a given value for the loading flow rate, is the loading pressure.

6. The method of claim 1, wherein, When the loading device is a loading motor (7) and the transport device is a transport motor (10), the loading and transport master control model comprises the staged controller and the continuous controller; The staged controller outputs a given value of the loading rotational speed corresponding to the actual value of the loading active current in each segment based on segmented detection of the actual value of the loading active current, and the maximum value of the given value of the loading rotational speed is 500-3000 r / min; The continuous controller outputs a given value of the loading rotational speed based on the actual value of the loading active current, The continuous controller: wherein, is a given value for the loading rotational speed, is the loading active current.

7. The adaptive control method for the loading of mining equipment based on the hydraulic frequency conversion hybrid drive according to claim 5, characterized in that, The loading control model further obtains the actual value of the loading pressure, and when the actual value of the loading pressure obtained by the loading control model is greater than 25 MPa and the actual value of the loading flow rate is less than 5 L / min, it is determined that the first loading rake claw (6) is blocked by coal and rock, a warning prompt is issued, and the output of the loading solenoid valve controller is stopped, and the loading work is stopped. The transport control model further obtains the actual value of the transport current, and when the actual value of the transport current obtained by the transport control model is greater than 50 A and the actual value of the transport rotational speed is less than 100 r / min, it is determined that the scraper chain is blocked by coal and rock, a warning prompt is issued, and the outputs of the transport frequency conversion controller and the loading solenoid valve controller are stopped, and the transport and loading work is stopped.

8. The adaptive control method for the loading of mining equipment based on the hydraulic frequency conversion hybrid drive according to claim 6, characterized in that, The loading control model further obtains the actual value of the loading active current, and when the actual value of the loading active current obtained by the loading control model is greater than 50 A and the actual value of the loading rotational speed is less than 100 r / min, it is determined that the second loading rake claw (12) is blocked by coal and rock, a warning prompt is issued, and the output of the loading frequency conversion controller is stopped, and the loading work is stopped. The transport control model further obtains the actual value of the transport pressure, and when the actual value of the transport pressure obtained by the transport control model is greater than 25 MPa and the actual value of the transport flow rate is less than 5 L / min, it is determined that the scraper chain is blocked by coal and rock, a warning prompt is issued, and the outputs of the transport solenoid valve controller and the loading frequency conversion controller are stopped, and the transport and loading work is stopped.

Images