Self-adaptive coal rock cutting control method and system for half-coal rock digging and anchoring integrated machine

Abstract

The invention discloses a coal rock self-adaptive cutting control method and system for a half-coal rock digging and anchoring integrated machine, and relates to the technical field of coal mine tunneling equipment control. The method comprises the steps that self-adaptive cutting parameters are obtained, when a control mode in the self-adaptive cutting parameters is a speed regulation mode, sensing information is obtained, a cutting current value is determined according to the sensing information, and the cutting current value is determined according to the speed regulation mode. Determining an adjusting relation according to the cutting current value and the self-adaptive cutting parameters, adjusting the running speed according to the sensing information and the adjusting relation, and carrying out coal rock cutting operation; real-time monitoring and self-adaptive adjustment in the cutting process can be achieved, it is ensured that the cutting process is efficient, stable and safe, and loss of the half-coal-rock digging and anchoring all-in-one machine is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of coal mine excavation equipment control, and in particular to a method and system for controlling coal and rock adaptive cutting of a semi-coal-rock excavation and anchoring machine. Background Art

[0002] With the rapid development of coal mining technology, the performance and efficiency of the integrated digging and anchoring machine, as a key equipment for coal mine tunnel excavation, directly affect the overall benefits and safety of coal mine production. The traditional integrated digging and anchoring machine has many shortcomings in the operation process, especially when dealing with complex geological conditions such as semi-coal rock tunnels, it cannot meet the requirements of cutting hard rock. Based on this, the existing integrated digging and anchoring machine manufacturers have developed high-power integrated digging and anchoring machines that can cut rocks for semi-coal rock tunnels. The semi-coal rock integrated digging and anchoring machine has optimized the machine model according to the hardness and cutting power of the rock, so that it can basically meet the cutting needs of semi-coal rock tunnels. However, the existing semi-coal rock integrated digging and anchoring machines generally face problems such as low cutting efficiency, large vibration, high component loss, and inaccurate cutting height control. In addition, the semi-coal rock integrated digging and anchoring machine cannot adjust the cutting speed in time and effectively according to the changes in coal and rock during cutting operations, the cutting motor is prone to overload, and the key parts of the frame are prone to damage. The above problems not only affect the speed and quality of excavation, but also increase the maintenance cost of the equipment and the labor intensity of the workers.

[0003] Moreover, compared with ordinary mining and anchoring machines, the main difference between the semi-coal-rock mining and anchoring machine and the ordinary mining and anchoring machine is the different cutting objects. The main reason for the large loss of the semi-coal-rock mining and anchoring machine is the huge vibration and cutting force of the cutting rock. Although the semi-coal-rock mining and anchoring machine has a hardware structure designed for hard rock cutting, the software structure has not been updated and optimized. At present, the main means to reduce the loss of coal and rock cutting is still to adjust the cutting speed to reduce vibration and force. Although extensive research has been conducted on coal and rock identification methods, an accurate identification method has not been established to guide cutting speed regulation. At present, semi-coal and rock tunnels are the main form of coal mine tunnels. As the main cutting equipment in semi-coal and rock tunnels, it is imperative to realize adaptive control of coal and rock. However, the current adaptive speed regulation strategies are mostly too simple, and the coal and rock perception information cannot be effectively utilized and truly collected. The adjustment effect is poor, and it is easy to fall into the adjustment dead zone, and the cutting current cannot be reduced in time.

[0004] Therefore, there is an urgent need to provide a coal-rock adaptive cutting control method and system for a semi-coal-rock mining and anchoring machine, so as to realize real-time monitoring and adaptive adjustment of the cutting process of the mining and anchoring machine, ensure the efficiency, stability and safety of the cutting process, and realize effective regulation of the cutting current to reduce the loss of the semi-coal-rock mining and anchoring machine. Summary of the invention

[0005] The purpose of this application is to provide a coal-rock adaptive cutting control method and system for a semi-coal-rock drilling and anchoring machine, which can realize real-time monitoring and adaptive adjustment of the cutting process, ensure the efficiency, stability and safety of the cutting process, and reduce the loss of the semi-coal-rock drilling and anchoring machine.

[0006] To achieve the above objectives, this application provides the following solutions:

[0007] In a first aspect, the present application provides a method for controlling coal-rock adaptive cutting of a semi-coal-rock drilling and anchoring machine, comprising:

[0008] Acquire adaptive cutting parameters; the adaptive cutting parameters include: rated current, sampling time, delay time, control mode, and maximum speed, minimum speed and initial speed of cutting lifting and slotting extension; the control mode includes: constant speed mode and speed regulation mode;

[0009] When the control mode in the adaptive cutting parameter is a speed regulation mode, sensing information is acquired; the sensing information includes: a left cutting current value, a right cutting current value, cutting displacement information, and cutting proportional valve flow information;

[0010] Determining a cutoff current value according to the sensed information;

[0011] Determine a regulating relationship according to the cutting current value and the adaptive cutting parameter; the regulating relationship includes: a regulating relationship between the cutting current value and the running speed; the running speed includes: a cutting rising speed, a cutting falling speed, a slotting extending speed and a slotting shrinking speed;

[0012] The operating speed is adjusted according to the perception information and the adjustment relationship to carry out coal and rock cutting operations.

[0013] Optionally, the coal-rock adaptive cutting control method of the semi-coal-rock mining and anchoring machine further includes:

[0014] When a secondary adjustment is performed after the first adjustment of the running speed is completed, the control mode is identified; if the execution action of the secondary adjustment is the same as that of the first adjustment, the running speed of the first adjustment is retained; if the execution action of the secondary adjustment is different from that of the first adjustment, the running speed is readjusted.

[0015] Optionally, determining the cutoff current value according to the sensed information specifically includes:

[0016] A cutting current value is determined according to the left cutting current value and the right cutting current value.

[0017] Optionally, determining the cutting current according to the left cutting current value and the right cutting current value specifically includes:

[0018] Using the formula I1=MAX(I L ,I R ) determining the cutting current value;

[0019] Among them, I L is the left cutoff current value, I R is the right cutoff current value, I1 is the cutoff current value, and MAX() is the maximum value function.

[0020] Optionally, determining the adjustment relationship according to the cutting current value and the adaptive cutting parameter specifically includes:

[0021] Using the formula Determining the regulating relationship between the cutting current value and the cutting speed increase;

[0022] Using the formula Determining the regulating relationship between the cutting current value and the cutting drop speed;

[0023] Using the formula Determining the regulating relationship between the cutting current value and the slotting extension speed;

[0024] Using the formula Determining the regulating relationship between the cutting current value and the slotting shrinkage speed;

[0025] Among them, I0 is the rated current value, I1 is the cut-off current value, V U is the cutting speed, V' U is the cutting speed at the previous moment, V D is the cutting speed, V' D is the cutting speed at the previous moment, V F is the cutting speed, V' F V is the speed of the last moment of slotting and stretching, B is the cutting speed, V' B The speed of the last moment.

[0026] Optionally, the determining the adjustment relationship according to the cutting current value and the adaptive cutting parameter further includes:

[0027] The running speed is corrected according to the cutting displacement information and the left cutting current value and the right cutting current value.

[0028] Optionally, the correcting the running speed according to the cutting displacement information and the left cutting current value and the right cutting current value specifically includes:

[0029] Determine the cutting flow information according to the left cutting current value and the right cutting current value;

[0030] Using the formula ΔKLQ =|K Q -K L | Calculate the difference between the absolute value of the ratio of the cutting displacement information and the absolute value of the ratio of the cutting flow information;

[0031] Among them, K Q is the absolute value of the ratio of the cut flow information, K L is the absolute value of the ratio of the cut displacement information;

[0032] If ΔK LQ If it is less than or equal to 10%, no correction will be made;

[0033] If ΔK LQ If it is greater than 10%, the current difference ΔK is used. LQ Correct the running speed.

[0034] In the second aspect, the present application provides a coal-rock adaptive cutting control system for a semi-coal-rock mining and anchoring machine, comprising:

[0035] A cutting parameter acquisition module is used to acquire adaptive cutting parameters; the adaptive cutting parameters include: rated current, sampling time, delay time, control mode, and maximum speed, minimum speed and initial speed of cutting lifting and slotting extension; the control mode includes: constant speed mode and speed regulation mode;

[0036] A sensing information acquisition module, used for acquiring sensing information when the control mode in the adaptive cutting parameter is a speed regulation mode; the sensing information includes: a left cutting current value, a right cutting current value, cutting displacement information and cutting proportional valve flow information;

[0037] A cutting current determination module, used to determine a cutting current value according to the sensing information;

[0038] A regulation relationship determination module, used to determine the regulation relationship according to the cutting current value and the adaptive cutting parameter; the regulation relationship includes: the regulation relationship between the cutting current value and the running speed; the running speed includes: cutting rise speed, cutting fall speed, slot extension speed and slot retraction speed;

[0039] The operating speed adjustment module is used to adjust the operating speed according to the perception information and the adjustment relationship to perform coal and rock cutting operations.

[0040] Optionally, the perception information acquisition module specifically includes:

[0041] A current transformer, used to obtain a left-cut current value and a right-cut current value;

[0042] A displacement sensor, used to obtain cutting displacement information;

[0043] Flow sensor, used to obtain flow information of the cut-off proportional valve.

[0044] Optionally, the semi-coal-rock mining and anchoring machine coal-rock adaptive cutting control system further includes:

[0045] The host computer is used to display the cutting trajectory according to the perception information and the running speed.

[0046] According to the specific embodiments provided in this application, this application has the following technical effects:

[0047] The present application provides a method and system for adaptively cutting coal and rock of a semi-coal-rock mining and anchoring machine, which integrates a variety of sensors and intelligent control algorithms, realizes real-time monitoring and adaptive adjustment of the cutting process of the mining and anchoring machine, ensures the efficiency, stability and safety of the cutting process, can effectively adjust the cutting current, and reduce the loss of the semi-coal-rock mining and anchoring machine. The present application directly saves the maintenance cost of the semi-coal-rock mining and anchoring machine, improves the quality and intelligence level of the equipment, and realizes the normalization of the adaptive cutting of coal and rock of the semi-coal-rock mining and anchoring machine. In addition, the software algorithm of the present application has typical demonstration significance for the adaptive cutting and support of other tunneling equipment such as continuous coal miners, tunneling machines, and bolting machines, and can be further promoted and applied. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic diagram of a control architecture corresponding to a method for controlling coal-rock adaptive cutting of a semi-coal-rock drilling and anchoring machine in accordance with an embodiment of the present application;

[0050] Figure 2 This is a flow chart of a method for controlling coal-rock adaptive cutting of a semi-coal-rock drilling and anchoring machine in one embodiment of the present application;

[0051] Figure 3 This is a schematic diagram of a setting interface of coal-rock adaptive cutting control parameters of a semi-coal-rock drilling and anchoring machine in one embodiment of the present application;

[0052] Figure 4 This is a structural diagram of the perception layer of the adaptive cutting control method in one embodiment of the present application;

[0053] Figure 5 This is a control layer structure diagram of an adaptive cutting control method in an embodiment of the present application;

[0054] Figure 6 This is a coal-rock adaptive cutting control logic diagram of a semi-coal-rock digging and anchoring machine in one embodiment of the present application;

[0055] Figure 7 This is a schematic diagram of the operation of a semi-coal-rock drilling and anchoring machine in one embodiment of the present application. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0058] In an exemplary embodiment, Figure 1 As shown, the present application can be divided into a perception layer, a control layer and an execution layer, and the perception layer, the control layer and the execution layer all include corresponding hardware and software; the perception layer hardware includes a left cutting current transformer, a right cutting current transformer, a cutting lifting displacement sensor, a groove telescopic displacement sensor, a cutting lifting flow sensor and a groove telescopic flow sensor, and the perception layer software includes a cutting current sampling program, a cutting displacement sampling program and a cutting flow sampling program; the control layer hardware includes a main controller, an industrial computer and a proportional valve driver, and the control layer software includes a proportional valve driver, an adaptive cutting speed control program and a parameter setting program; the execution layer hardware includes a remote control, an industrial computer, a proportional valve, a cutting cylinder and a data recorder.

[0059] The perception layer mainly realizes the collection and processing of the left cutting current value, the right cutting current value, the cutting displacement information and the cutting proportional valve flow information; the control layer mainly realizes the adaptive cutting algorithm control, the cutting proportional valve control and the adaptive cutting host computer parameter setting functions; the execution layer mainly realizes the action of the cutting lifting cylinder and the grooving telescopic cylinder in the adaptive cutting of the semi-coal and rock drilling and anchoring machine, the real-time monitoring and feedback of the adaptive cutting operation status and the recording of the adaptive cutting historical data.

[0060] In an exemplary embodiment, Figure 2 As shown, a method for controlling coal-rock adaptive cutting of a semi-coal-rock drilling and anchoring machine is provided, which specifically includes:

[0061] S1: Obtain adaptive cutting parameters.

[0062] The industrial computer of the control layer is responsible for setting the adaptive cutting parameters; the adaptive cutting parameters include: rated current, sampling time, delay time, control mode and maximum speed, minimum speed and initial speed of cutting lifting and slotting extension; the control mode includes: constant speed mode and speed regulation mode.

[0063] Among them, the maximum speed refers to the adjustable maximum speed value, that is, the speed of the cutting cylinder is limited below the maximum speed, and its reference adjustment range is 10000-32767; the minimum speed refers to the adjustable minimum speed value, that is, the speed of the cutting cylinder is adjusted above the minimum speed, and its reference adjustment range is 0-10000; the initial speed refers to the speed given when the driver starts the adaptive cutting action, and its reference adjustment range is 1000-20000; the rated current is the rated current of the cutting motor of the semi-coal and rock mining and anchoring machine, which is determined according to different models and is generally a fixed value, but it is not necessary to strictly abide by the fixed value in actual control. Different rated currents will lead to different control effects. The reference setting value of the rated current is generally 100-200A; the sampling time refers to the sampling interval of the cutting current, which refers to the sampling time at this During the sampling time, the cutting current is continuously collected to obtain the cutting current characteristic value, which is given to the main controller for control calculation. The sampling time can also be understood as the interval time of each speed adjustment. The reference adjustment range is generally 2000-5000ms; the delay time refers to the time interval from the control signal being sent to the cylinder action. No current signal sampling is performed during the delay time to avoid the influence of hydraulic response delay on the control effect. The reference adjustment range is generally 500ms-1000ms; the control mode refers to the selection of constant speed mode and speed regulation mode. The constant speed mode means that when the driver operates the cutting, the cutting cylinder cuts at a fixed speed without adaptive speed regulation. The speed regulation mode refers to the adaptive cutting speed regulation when the driver operates. The default mode is the constant speed mode. The adaptive coal and rock cutting described in this application is carried out in the speed regulation mode.

[0064] In order to be applicable to all semi-coal-rock mining and anchoring machines, this application selects some parameters for setting according to the cutting process and coal-rock adaptive control logic of the mining and anchoring machine, so as to achieve the universality of the adaptive control logic on different types of semi-coal-rock mining and anchoring machines. The parameter setting program includes a parameter setting password, which is calculated by the serial number of the main controller. Parameters can be set only after the parameter setting password is entered correctly. The parameter setting interface is as follows Figure 3 shown.

[0065] The steps for setting adaptive cutting parameters are as follows:

[0066] (1) Use the remote control to switch to the parameter setting interface.

[0067] (2) Use the remote control key combination to enable parameter settings.

[0068] (3) Use the remote control key combination to enter the password for verification.

[0069] (4) After the password is correct, select the cursor to the corresponding parameter setting area, press the parameter plus and parameter minus buttons to set the parameters, and adjust according to the actual needs and reference range of the site. If not set, the initial value is given according to the general parameters. At the same time, when setting the parameters, the minimum value of the minimum speed, the maximum value of the maximum speed, and the size relationship between the minimum speed and the maximum speed are locked and restricted.

[0070] S2: When the control mode in the adaptive cutting parameter is the speed regulation mode, the sensing information is obtained; the sensing information includes: left cutting current value, right cutting current value, cutting displacement information and cutting proportional valve flow information.

[0071] In an exemplary embodiment, the perception layer is used to obtain perception information. The left cutting current transformer measures the left cutting current value, and the right cutting current transformer measures the right cutting current value. The cutting current transformer uses CAN communication output to output the cutting current signal. The cutting current sampling program collects the cutting current value at a fixed sampling time to avoid the influence of cutting current distortion and jitter. Through stable current collection, an input signal is provided for coal-rock adaptive cutting to adjust the cutting speed. The cutting lifting flow sensor measures the flow information of the cutting lifting proportional valve, and the slotting telescopic flow sensor measures the flow information of the slotting telescopic proportional valve. The cutting lifting cylinder and the slotting telescopic cylinder are respectively connected to the cutting lifting proportional valve and the slotting telescopic cylinder. The slot telescopic proportional valve controls the flow output to directly reflect the speed of the cutting lifting cylinder and the slotting telescopic cylinder. The cutting flow sensor uses a 1-5V analog signal. The cutting lifting displacement sensor measures the current length of the cutting lifting cylinder, and the slotting telescopic displacement sensor measures the current length of the slotting telescopic cylinder. The cutting displacement sampling program mainly collects the displacement change and change time when the cutting speed changes, and reflects the actual cutting speed change through the displacement change to avoid the influence of other factors such as on-site stalling on the adaptive cutting. The cutting displacement measurement accuracy is 3mm, and the cutting displacement sensor uses a 4-20mA analog signal. In this application, if Figure 4 As shown, the left cutting current value and the right cutting current value belong to the input signal, the cutting proportional valve flow information belongs to the output signal, and the cutting displacement information belongs to the regulation signal.

[0072] S3: Determine the cutoff current value according to the sensed information.

[0073] The speed regulation ratio of the semi-coal rock mining and anchoring machine is adjusted according to the real-time cutting current value. The cutting current of the semi-coal rock mining and anchoring machine is divided into the left cutting current value I L and right cutoff current value I R The sampling process of the two is the same, with the left cut current value I LFor example, the sampling process is: after the sampling time T1 is completed, the left cut current value is sampled, and the calculation formula is:

[0074] I L =K1I” L +(1-K1)I' L .

[0075] Among them, I L is the left cutoff current value, I” L is the left cutoff current value at the previous moment, I' L is the left-cut current value at the current moment, and K1 is the characteristic weight ratio of the left-cut current value at the previous moment.

[0076] After collecting the left cutoff current value I L and right cutoff current value I R Then, according to the safety principle, the larger of the two is selected as the cut-off current value I1, and the calculation formula is:

[0077] I1=MAX(I L ,I R ).

[0078] Wherein, I1 is the cut-off current value, and MAX() is the maximum value function.

[0079] S4: determining a regulating relationship according to the cutting current value and the adaptive cutting parameter; the regulating relationship includes: a regulating relationship between the cutting current value and the running speed; the running speed includes: a cutting rising speed, a cutting falling speed, a grooving extending speed and a grooving shrinking speed.

[0080] The adjustment relationship is determined by the main controller, such as Figure 5 As shown, the main controller is responsible for implementing the adaptive cutting speed control program, including receiving the setting parameters, implementing the control logic and uploading the operation data.

[0081] After the main controller obtains the cutting current value I1, it compares it with the rated current value I0 and adjusts different cutting actions according to their proportional relationship. The control logic flow chart is as follows: Figure 6 As shown, Figure 6 The proportional relationship is taken as an example of slotting and stretching. The control formulas for each cutting action are as follows:

[0082] Using the formula Determine the regulating relationship between the cutting current value and the cutting speed increase.

[0083] Using the formula Determine the regulating relationship between the cutting current value and the cutting drop speed.

[0084] Using the formula Determine the regulating relationship between the cutting current value and the slotting extension speed.

[0085] Using the formula Determine the regulating relationship between the cutting current value and the slotting shrinkage speed.

[0086] Among them, I0 is the rated current value, I1 is the cut-off current value, V U is the cutting speed, V' U is the cutting speed at the previous moment, V D is the cutting speed, V' D is the cutting speed at the previous moment, V F is the cutting speed, V' F V is the speed of the last moment of slotting and stretching, B is the cutting speed, V' B The speed of the last moment.

[0087] Cutting speed V U The limited range is V Umax ≥V U ≥V Umin , at the initial action, V' U =V Uini .

[0088] Cutting speed V D The limited range is V Dmax ≥V D ≥V Dmin , at the initial action, V' D =V Dini .

[0089] Groove cutting speed V F The limited range is V Fmax ≥V F ≥V Fmin , at the initial action, V' F =V Fini .

[0090] Groove shrinking speed V B The limited range is V Bmax ≥V B ≥V Bmin , at the initial action, V' B =V Bini .

[0091] Among them, V Umax V is the maximum cutting speed. Umin V is the minimum cutting speed. Uini V is the initial speed of cutting; Dmax For cutting, the maximum speed is V Dmin To reduce the minimum cutting speed, VDini V is the initial speed of cutting; Fmax V is the maximum speed of slotting and stretching, Fmin V is the minimum speed of slotting and stretching, Fini V is the initial speed of the slotting; Bmax V is the maximum speed of the slotting, Bmin V is the minimum speed of the slotting, Bini It is the initial speed of slotting contraction; the maximum speed, minimum speed and initial speed of cutting lifting speed and slotting extension and contraction speed are given by the interface settings.

[0092] The realization of control logic mainly refers to adjusting the speed of cutting rise, cutting fall, grooving extension and grooving contraction according to the proportional relationship between the collected cutting current value and the rated current value, and outputting the control analog value of the cutting cylinder speed. The control algorithm adopts the idea of ​​graded regulation and iterative control. The control logic in this application is not a simple piecewise function, but iteratively adjusts the previous speed as the current speed within a certain sampling time, avoiding the problem of falling into the regulation dead zone when the piecewise function is given a fixed value. At the same time, according to the cutting process requirements and the characteristic curve of the proportional valve, the control ratios of the four actions with different grades were adjusted to obtain the optimal adjustment ratio, and different cutting parameters were set.

[0093] The uploading of the operation data includes the data display of the perception information and the operation speed, and the upper computer displays the corresponding cutting trajectory according to the perception information and the operation speed.

[0094] Specifically, in order to ensure the accuracy and stability of the running speed, S4 also includes:

[0095] The running speed is corrected according to the cutting displacement information and the left cutting current value and the right cutting current value.

[0096] In the actual speed regulation process, due to the harsh working environment conditions such as the coal stacking, there may be a situation where the hydraulic flow is output but there is no actual action or the speed is inconsistent. Therefore, it is necessary to verify the adjustment of the cutting speed based on the cutting displacement information to achieve better adaptive cutting and safety protection functions. Here, the cutting action is taken as an example to illustrate the specific process.

[0097] First, the displacement sensor measurement value L1 and the cutting flow sensor measurement value Q1 before the cutting action are collected and recorded. After the analysis time T3, that is, after the cutting action is completed, the displacement sensor measurement value L2 and the cutting flow sensor measurement value Q2 at this time are recorded, and the absolute value K of the ratio of the displacement sensors before and after is calculated. L Ratio of absolute value of flow sensor K Q , the calculation formula is as follows:

[0098]

[0099]

[0100] The analysis time T3 is the sum of the sampling time T1 and the delay time T2, and the calculation formula is as follows:

[0101] T3=T1+T2.

[0102] Calculate the absolute value K of the ratio of the displacement sensor L Ratio of absolute value of flow sensor K Q The absolute value of the difference ΔK LQ , the calculation formula is as follows:

[0103] ΔK LQ =|K Q -K L |.

[0104] If ΔK LQ If the speed is within 10%, no correction is made. Otherwise, the speed is adjusted according to the following formula to cut off the speed V D For example, the calculation formula is as follows:

[0105] V° D =ΔK LQ ·V D .

[0106] Among them, V° D The adjusted cutting speed.

[0107] S5: Adjust the running speed according to the sensed information and the adjustment relationship to carry out coal and rock cutting operations.

[0108] The human-machine interaction is realized by the execution layer, which can realize the action of the cutting lifting cylinder and the slotting telescopic cylinder in the adaptive cutting of the semi-coal-rock mining and anchoring machine, the real-time monitoring feedback of the adaptive cutting operation status of the host computer interface, and the recording of adaptive cutting historical data. The corresponding software includes the remote control command reading program, the host computer cutting status display interface program, and the data recorder storage program.

[0109] After selecting the adaptive cutting parameters such as cutting mode, Figure 7As shown, the driver of the integrated mining and anchoring machine operates the cutting oil cylinder lifting handle and the slotting telescopic handle of the remote control to perform coal cutting operations. After receiving the remote control command, the main controller starts adaptive cutting control, adjusts the speed of the corresponding oil cylinder according to the action of the remote control command, drives the cutting lifting and slotting telescopic oil cylinders to move, and generally the cutting process of the semi-coal rock mining and anchoring machine is: cutting rise-slotting extension-cutting descent-slotting retraction, to achieve the coal and rock cutting operation, in which the main coal and rock contacting links are cutting descent and slotting extension. The actual process often varies due to geological conditions and operating habits, but it does not affect the implementation of the adaptive cutting speed regulation function proposed in this application.

[0110] The proportional valve driver is responsible for implementing the cut-off proportional valve driver. After receiving the running speed analog quantity obtained by the main controller through control logic operation, the proportional valve driver converts the running speed analog quantity into a PWM output signal, drives the proportional valve to operate, and sets the proportional valve parameters, including the maximum control current of the proportional valve, the minimum control current, the coil resistance value, the rising slope, the falling slope, the PI adjustment parameter, the PWM output frequency and the flutter frequency. This application conducts a control model test on the control proportional valve of the semi-coal rock drilling and anchoring machine, and the setting values ​​of each parameter are shown in Table 1.

[0111] Table 1 Cutting proportional valve drive parameter settings

[0112]

[0113] Table 1 is only used as an example for reference, and the specific characteristics of the proportional valve used may vary. The analog value of the control is 0-32767, the corresponding PWM output signal is 0-1000, the corresponding duty cycle is 0-100%, the control current signal output range is 300mA-650mA, the proportional valve driver has control current feedback, and the PI parameter is the value of adjusting the output current signal according to the feedback current.

[0114] The main controller displays the perception parameters, running speed, cutting trajectory and other parameters on the monitoring interface of the integrated mining and anchoring machine, and performs corresponding three-dimensional action association at the same time. The data recorder records the adaptive cutting data in real time, including the aforementioned perception layer data and control layer data, to facilitate the evaluation and optimization of the adaptive cutting effect. The execution layer is aimed at the driver of the semi-coal and rock mining and anchoring machine. The driver issues the adaptive cutting start command through the remote control, and observes and adjusts through the interface. At the same time, the background records the data through the data recorder. The driver is not limited to remote control through this machine, but can also achieve adaptive cutting through remote control commands from a remote control center or ground dispatching.

[0115] In order to achieve good results and reduce overload, S5 and later also include:

[0116] Under similar coal-rock conditions, the left and right cutting current values ​​after cutting in constant speed mode are compared with those after cutting in speed regulation mode. Within a fixed time period, the number of overloads, maximum overload current, and overload rate are statistically calculated to observe whether the speed regulation mode can achieve good results and reduce overload.

[0117] According to the current analysis results, the adaptive cutting parameters and the proportional relationship between the cutting current value and the rated current value in the main controller are adjusted to obtain the adaptive cutting parameters suitable for the working condition, and then S1 is repeated to continue the adaptive cutting speed regulation implementation of the semi-coal rock drilling and anchoring machine.

[0118] In actual operation, the driver may frequently release the handle. The command for adaptive cutting speed regulation is triggered by the rising edge of the remote control handle action. This leads to a problem. After the driver operates the remote control handle for the second time, should he continue to run and adjust according to the speed that was adjusted last time, or should he give an initial speed and start again? For this problem, the present application uses the following method to identify the mode of the driver's operation: if the driver's secondary operation is the same as the last operation, for example, both are slotting and stretching, then the last adjusted speed is retained and the operation and regulation are continued; if the driver's secondary operation is different from the last operation, then the given initial speed is readjusted. For example, after the driver operates the slotting and stretching, he releases the handle and operates the cutting and lowering again, and then operates the slotting and stretching again. At this time, the given initial speed of the slotting and stretching is re-adjusted adaptively.

[0119] Compared with the prior art, this application realizes effective regulation of the on-site cutting speed from the perspective of practicality and in combination with the on-site environment, reduces the number of overloads of the cutting motor current, and reduces the loss of the frame. The specific optimization and innovation lies in that the cutting current roughly reflects the coal and rock characteristics, fully meeting the control requirements. In order to avoid the cutting current failing to reflect the real characteristics, a cutting current sampling method that can retain the cutting current characteristics and authenticity is proposed, ensuring the authenticity and accuracy of the adaptive control input information; according to the driver's operating habits, a pattern recognition function is added to distinguish the state of the cutting speed regulation to ensure that the optimal speed value can be matched under the current cutting condition; in terms of adaptive control logic, unlike simple piecewise function control, it is based on the iterative idea to achieve continuous regulation and optimization of the cutting speed, avoiding the problem of the piecewise function falling into the dead zone. At the same time, compared with various neural network algorithms on paper, it is simple to implement and reliable in effect. At the same time, it also accumulates data to provide a logical basis and data characteristics for the next step of deep learning; according to the cutting process and structure of the semi-coal-rock mining and anchoring machine, a distributed hardware control system is designed to achieve a good human-computer interaction experience. To sum up, the coal-rock adaptive cutting control system and method of a semi-coal-rock mining and anchoring machine described in this application are innovative, reliable, simple to implement, and deeply integrated with the site. It has been put into use and achieved the expected results.

[0120] In an exemplary embodiment, the present application provides a coal-rock adaptive cutting control system for a semi-coal-rock mining and anchoring machine, comprising:

[0121] The cutting parameter acquisition module is used to obtain adaptive cutting parameters; the adaptive cutting parameters include: rated current, sampling time, delay time, control mode, and maximum speed, minimum speed and initial speed of cutting lifting and grooving extension; the control mode includes: constant speed mode and speed regulation mode.

[0122] The perception information acquisition module is used to acquire perception information when the control mode in the adaptive cutting parameter is the speed regulation mode; the perception information includes: left cutting current value, right cutting current value, cutting displacement information and cutting proportional valve flow information.

[0123] A cutting current determination module is used to determine a cutting current value according to the sensing information.

[0124] The regulation relationship determination module is used to determine the regulation relationship according to the cutting current value and the adaptive cutting parameter; the regulation relationship includes: the regulation relationship between the cutting current value and the operating speed; the operating speed includes: cutting rising speed, cutting falling speed, grooving extension speed and grooving contraction speed.

[0125] The operating speed adjustment module is used to adjust the operating speed according to the perception information and the adjustment relationship to perform coal and rock cutting operations.

[0126] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0127] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for controlling coal-rock adaptive cutting of a semi-coal-rock drilling and anchoring machine, characterized in that: The coal-rock adaptive cutting control method of the semi-coal-rock mining and anchoring machine comprises: Acquire adaptive cutting parameters; the adaptive cutting parameters include: rated current, sampling time, delay time, control mode, and maximum speed, minimum speed and initial speed of cutting lifting and slotting extension; the control mode includes: constant speed mode and speed regulation mode; When the control mode in the adaptive cutting parameter is a speed regulation mode, sensing information is acquired; the sensing information includes: a left cutting current value, a right cutting current value, cutting displacement information, and cutting proportional valve flow information; Determining a cutoff current value according to the sensed information; Determine a regulating relationship according to the cutting current value and the adaptive cutting parameter; the regulating relationship includes: a regulating relationship between the cutting current value and the running speed; the running speed includes: a cutting rising speed, a cutting falling speed, a slotting extending speed and a slotting shrinking speed; The operating speed is adjusted according to the perception information and the adjustment relationship to carry out coal and rock cutting operations.

2. The method for controlling coal-rock adaptive cutting of a semi-coal-rock drilling and anchoring machine according to claim 1 is characterized in that: The coal-rock adaptive cutting control method of the semi-coal-rock-digger-anchoring machine also includes: When a secondary adjustment is performed after the first adjustment of the running speed is completed, the control mode is identified; if the execution action of the secondary adjustment is the same as that of the first adjustment, the running speed of the first adjustment is retained; if the execution action of the secondary adjustment is different from that of the first adjustment, the running speed is readjusted.

3. The method for controlling coal-rock adaptive cutting of a semi-coal-rock drilling and anchoring machine according to claim 1 is characterized in that: The determining the cutoff current value according to the sensed information specifically includes: A cutting current value is determined according to the left cutting current value and the right cutting current value.

4. The method for controlling coal-rock adaptive cutting of a semi-coal-rock drilling and anchoring machine according to claim 3 is characterized in that: The determining the cutting current according to the left cutting current value and the right cutting current value specifically includes: Using the formula I1=MAX(I L ,I R ) determining the cutting current value; Among them, I L is the left cutoff current value, I R is the right cutoff current value, I1 is the cutoff current value, and MAX() is the maximum value function.

5. The method for controlling coal-rock adaptive cutting of a semi-coal-rock drilling and anchoring machine according to claim 1, characterized in that: The determining of the adjustment relationship according to the cutting current value and the adaptive cutting parameter specifically includes: Using the formula Determining the regulating relationship between the cutting current value and the cutting speed increase; Using the formula Determining the regulating relationship between the cutting current value and the cutting drop speed; Using the formula Determining the regulating relationship between the cutting current value and the slotting extension speed; Using the formula Determining the regulating relationship between the cutting current value and the slotting shrinkage speed; Among them, I0 is the rated current value, I1 is the cut-off current value, V U is the cutting speed, V' U is the cutting speed at the previous moment, V D is the cutting speed, V' D is the cutting speed at the previous moment, V F is the cutting speed, V' F V is the cutting speed at the last moment, B is the cutting speed, V' B The speed of the last moment.

6. The method for controlling coal-rock self-adaptive cutting of a semi-coal-rock drilling and anchoring machine according to claim 1, characterized in that: The step of determining the adjustment relationship according to the cutting current value and the adaptive cutting parameter further comprises: The running speed is corrected according to the cutting displacement information and the left cutting current value and the right cutting current value.

7. The method for controlling coal-rock self-adaptive cutting of a semi-coal-rock drilling and anchoring machine according to claim 6, characterized in that: The correcting the running speed according to the cutting displacement information and the left cutting current value and the right cutting current value specifically includes: Determine the cutting flow information according to the left cutting current value and the right cutting current value; Using the formula ΔK LQ =|K Q -K L | Calculate the difference between the absolute value of the ratio of the cutting displacement information and the absolute value of the ratio of the cutting flow information; Among them, K Q is the absolute value of the ratio of the cut flow information, K L is the absolute value of the ratio of the cut displacement information; If ΔK LQ If it is less than or equal to 10%, no correction will be made; If ΔK LQ If it is greater than 10%, the current difference ΔK is used. LQ Correct the running speed.

8. A coal-rock adaptive cutting control system for a semi-coal-rock drilling and anchoring machine, characterized in that: The semi-coal-rock-digger-anchor-in-one coal-rock self-adaptive cutting control system comprises: A cutting parameter acquisition module is used to acquire adaptive cutting parameters; the adaptive cutting parameters include: rated current, sampling time, delay time, control mode, and maximum speed, minimum speed and initial speed of cutting lifting and slotting extension; the control mode includes: constant speed mode and speed regulation mode; A sensing information acquisition module, used for acquiring sensing information when the control mode in the adaptive cutting parameter is a speed regulation mode; the sensing information includes: a left cutting current value, a right cutting current value, cutting displacement information and cutting proportional valve flow information; A cutting current determination module, used to determine a cutting current value according to the sensing information; A regulation relationship determination module, used to determine the regulation relationship according to the cutting current value and the adaptive cutting parameter; the regulation relationship includes: the regulation relationship between the cutting current value and the running speed; the running speed includes: cutting rise speed, cutting fall speed, slot extension speed and slot retraction speed; The operating speed adjustment module is used to adjust the operating speed according to the perception information and the adjustment relationship to perform coal and rock cutting operations.

9. The coal-rock adaptive cutting control system of the semi-coal-rock drilling and anchoring machine according to claim 8 is characterized in that: The perception information acquisition module specifically includes: A current transformer, used to obtain a left-cut current value and a right-cut current value; A displacement sensor, used to obtain cutting displacement information; Flow sensor, used to obtain flow information of the cut-off proportional valve.

10. The coal-rock adaptive cutting control system of the semi-coal-rock drilling and anchoring machine according to claim 8, characterized in that: The semi-coal-rock-digger-anchor-in-one coal-rock adaptive cutting control system also includes: The host computer is used to display the cutting trajectory according to the perception information and the running speed.

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