Self-adaptive control method for loading and transporting of excavating equipment based on hydraulic driving

Abstract

The invention belongs to the technical field of roadway tunneling. In order to solve the problem that an existing loading and transporting system cannot realize self-adaptive speed regulation by monitoring the coal quantity, the invention provides a hydraulic drive-based mining equipment loading and transporting self-adaptive control method, which comprises the following steps of: acquiring a detection signal related to the coal falling quantity on hydraulic loading equipment; constructing a loading and transporting main control model, and outputting given values of output signals of the hydraulic loading equipment and the hydraulic transportation equipment based on preset boundary conditions and the detection signals related to the coal drop amount; actual values of output signals of the two hydraulic devices are obtained; constructing a loading control model and a transportation control model, wherein the loading control model controls an actual value of an output signal of the hydraulic loading equipment to approach a given value of the output signal of the hydraulic loading equipment based on a PID algorithm; meanwhile, the transportation control model controls an actual value of an output signal of the hydraulic transportation equipment to approach a given value of the output signal of the hydraulic transportation equipment based on a PID algorithm, so that self-adaptive speed regulation is realized, and the fault rate of the mining equipment is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel excavation, and in particular relates to a hydraulically driven self-adaptive control method for loading and unloading mining equipment. Background Art

[0002] The rapid excavation system based on the integrated digging and anchoring machine is the core equipment for the rapid mining and forming of coal mine tunnels. The current loading and transportation systems of the integrated digging and anchoring machine adopt constant speed drive, but for semi-coal rock, the rock cutting speed is slow and the loading capacity is small, while the coal cutting speed is fast and the loading capacity is large. When the loading and transportation are operated at a constant speed, it will inevitably cause unnecessary wear on the scraper and chain. Therefore, it is necessary to run at idle speed when there is little material, and run quickly when there is a lot of material. At the same time, there are severe working conditions such as spalling and fault crossing during the excavation process. At this time, the amount of coal falling will be too much or too little, which will cause the rake claws of the front loading mechanism to be suffocated or the scraper chain of the rear transportation mechanism to be stuck by rock cuttings, thereby delaying the excavation progress. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a hydraulically driven mining equipment loading and unloading adaptive control method for realizing adaptive speed regulation and improving production efficiency.

[0004] The present invention provides a method for self-adaptive control of mining equipment loading and transportation based on hydraulic drive, comprising:

[0005] Acquire detection signals related to the amount of coal falling on the hydraulic loading equipment;

[0006] Constructing a main control model for loading and unloading, which outputs given values ​​of output signals of hydraulic loading equipment and hydraulic transportation equipment based on preset boundary conditions and detection signals related to the amount of coal falling;

[0007] Obtaining the actual values ​​of output signals of hydraulic loading equipment and hydraulic transport equipment;

[0008] A loading control model and a transportation control model are constructed. The loading control model controls the actual value of the output signal of the hydraulic loading equipment to approach the given value of the output signal of the hydraulic loading equipment based on the PID algorithm; at the same time, the transportation control model controls the actual value of the output signal of the hydraulic transportation equipment to approach the given value of the output signal of the hydraulic transportation equipment based on the PID algorithm.

[0009] Optionally, the hydraulic loading device is a loading motor, the hydraulic transporting device is a transporting motor, the monitoring signal related to the amount of coal dropped is the loading pressure, the main shipping control model outputs a given value of the loading flow rate to the loading control model, and the main shipping control model outputs a given value of the transporting flow rate to the transporting control model;

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

[0011] The transport control model simultaneously obtains the actual value of the transport flow rate. The transport control model controls the output of the transport solenoid valve control based on the PID algorithm, so that the actual value of the transport flow rate output by the transport motor approaches the given value of the transport flow rate.

[0012] Optionally, the main loading control model includes a staged controller, which detects the actual value of the loading pressure in stages, and outputs a given value of the loading flow corresponding to the actual value of each stage of the loading pressure. The maximum value of the given value of the loading flow is 50-180L / min.

[0013] Optionally, the shipping main control model further includes a continuous controller, which outputs a given value of the loading flow rate based on the actual value of the loading pressure. The continuous controller is as follows:

[0014] Q = 7 × P

[0015] Where Q is the given value of the loading flow rate and P is the loading pressure.

[0016] Optionally, the loading control model also obtains the actual value of the loading pressure. When the actual value of the loading pressure obtained by the loading control model is greater than 25Mpa and the actual value of the loading flow is less than 5L / min, it is determined that the loading rake claw is stuck in coal and rock, a warning is issued, and the output of the loading solenoid valve controller is stopped, thereby stopping the loading work.

[0017] Optionally, 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 25Mpa and the actual value of the transport flow is less than 5L / min, it is determined that the scraper chain is stuck in coal and rock, and a warning is issued. At the same time, the output of the transport solenoid valve controller and the loading solenoid valve controller is stopped, and the transportation and loading operations are stopped.

[0018] Optionally, it also includes obtaining coal-rock cutting information and building a coal-rock identification model, wherein the coal-rock identification model obtains the coal-rock state of the current roadway based on the coal-rock cutting information and outputs a preset boundary condition, and the preset boundary condition can also be manually input based on the observation of the current roadway;

[0019] Coal and rock cutting information includes cutting vibration signal, cutting current signal, cutting traction speed and cutting head posture.

[0020] Optionally, the coal-rock identification model obtains the current roadway type, which includes coal roadways, rock roadways and semi-coal-rock roadways. The preset boundary conditions are the boundary values ​​of the loading flow and the boundary values ​​of the transportation flow. 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 flow according to the proportion of coal and rock.

[0021] Compared with the prior art, the technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0022] An embodiment of the present invention provides an adaptive control method for loading and unloading mining equipment based on hydraulic drive. The method directly judges the amount of coal falling according to the coal-rock identification model built into the cutting system and the obtained loading pressure, thereby adjusting the flow of the hydraulic loading equipment and the hydraulic transportation equipment according to the loading pressure to achieve adaptive speed regulation, reduce the failure rate of mining equipment, improve production efficiency, reduce the wear of the loading and unloading system, and increase the life of the loading and unloading system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1 This is a flow chart of a method for self-adaptive control of loading and unloading mining equipment based on hydraulic drive according to an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of a segmented controller according to an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of a continuous controller according to an embodiment of the present invention;

[0028] Figure 4 A schematic diagram of a hydraulic system according to an embodiment of the present invention;

[0029] Figure 5 It is a structural schematic diagram of a shipping system according to an embodiment of the present invention;

[0030] Figure 6 A schematic structural diagram of a shipping system according to an embodiment of the present invention from another perspective;

[0031] Figure 7It is a structural schematic diagram of a loading system according to an embodiment of the present invention;

[0032] Figure 8 The figure is a schematic structural diagram of the tail of a transport aircraft according to an embodiment of the present invention.

[0033] Among them, 1. loading motor; 2. loading reducer; 3. middle transport trough; 4. transport motor; 5. transport reducer; 6. loading rake claw; 7. loading pressure sensor; 8. loading flow sensor; 9. transport pressure sensor; 10. transport flow sensor. DETAILED DESCRIPTION

[0034] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0035] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0036] Reference Figures 1 to 3 As shown, this embodiment provides a method for self-adaptive control of mining equipment loading and transportation based on hydraulic drive, including:

[0037] Acquire detection signals related to the amount of coal falling on the hydraulic loading equipment;

[0038] Constructing a main control model for loading and unloading, which outputs given values ​​of output signals of hydraulic loading equipment and hydraulic transportation equipment based on preset boundary conditions and detection signals related to the amount of coal falling;

[0039] Obtaining the actual values ​​of output signals of hydraulic loading equipment and hydraulic transport equipment;

[0040] A loading control model and a transportation control model are constructed. The loading control model controls the actual value of the output signal of the hydraulic loading equipment to approach the given value of the output signal of the hydraulic loading equipment based on the PID algorithm; at the same time, the transportation control model controls the actual value of the output signal of the hydraulic transportation equipment to approach the given value of the output signal of the hydraulic transportation equipment based on the PID algorithm.

[0041] Among them, the hydraulic loading equipment is the loading motor 1, the hydraulic transportation equipment is the transportation motor 4, the monitoring 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 flow to the transportation control model; the loading control model simultaneously obtains the actual value of the loading flow, and the loading control model controls the output of the loading solenoid valve controller based on the PID algorithm, so that the actual value of the loading flow output by the loading motor 1 is close to the given value of the loading flow; the transportation control model simultaneously obtains the actual value of the transportation flow, and the transportation control model controls the output of the transportation solenoid valve control based on the PID algorithm, so that the actual value of the transportation flow output by the transportation motor 4 is close to the given value of the transportation flow.

[0042] Specifically, this embodiment takes the integrated digging and anchoring machine as an example. By acquiring the loading pressure, it is possible to determine the material stacking situation on the shovel board of the current integrated digging and anchoring machine, and then determine the loading flow of the loading motor 1 and the transport flow of the transport motor 4. When the loading pressure increases, it indicates that the material stacked on the shovel board increases. At this time, the loading flow of the loading motor 1 and the transport flow of the transport motor 4 are increased to transport the stacked materials out in time. When the loading pressure decreases, it indicates that the material stacked on the shovel board decreases. At this time, the loading flow of the loading motor 1 and the transport flow of the transport motor 4 are reduced, thereby reducing the energy consumption of the system and the wear of the scraper conveyor and the rake claws. Among them, the given value of the loading flow output by the shipping main control model is sent to the loading control model in time. When the given value of the transport flow output by the shipping main control model becomes larger, the shipping main control model outputs the given value of the transport flow to the transport control model in time. When the given value of the output transport flow becomes smaller, it is necessary to delay the shipping main control model for a corresponding time according to the current transport speed and the scraper chain length to output the given value of the transport flow to the transport control model.

[0043] Furthermore, the main control model for loading includes a staged controller, which detects the actual value of the loading pressure in stages, and outputs a given value of the loading flow corresponding to the actual value of each stage of the loading pressure, and the maximum value of the given value of the loading flow is 50-180L / min. Figure 2As shown, the staged controller divides the loading pressure into two or more sections for detection, usually 3-7 sections for detection, and the maximum value of the given value of the loading flow is 50-180L / min. When the model changes and the maximum value of the given value of the loading flow is reduced from 180L / min to 50L / min, the given value of the loading flow output by each section in the staged controller is reduced proportionally, wherein the given value of the loading flow output by a certain section in the staged controller is the average value 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 When the actual value of the loading pressure is 0-5Mpa, the given value of the loading flow is 20L / min; when the actual value of the loading pressure is 5-10Mpa, the given value of the loading flow is 60L / min; when the actual value of the loading pressure is 10-15Mpa, the given value of the loading flow is 100L / min, when the actual value of the loading pressure is 15-20Mpa, the given value of the loading flow is 140L / min, and when the actual value of the loading pressure is 20-25Mpa, the given value of the loading flow is 180L / min.

[0044] Of course, refer to Figure 3 As shown, the shipping main control model also includes a continuous controller, which outputs a given value of the loading flow based on the actual value of the loading pressure. The given value of the loading flow in the continuous controller increases linearly with the actual value of the loading pressure obtained by the shipping main control model. The continuous controller is Q=7×P, where Q is the given value of the loading flow and P is the loading pressure.

[0045] Among them, the given value of the transport flow output by the shipping main control model is the same as the given value of the output loading flow, and it also includes a staged controller and a continuous controller. The range setting of the actual value of the transport pressure and the given value of the transport flow is the same as the range of the actual value of the loading pressure and the given value of the loading flow.

[0046] In some embodiments, the loading control model also obtains the actual value of the loading pressure. When the actual value of the loading pressure obtained by the loading control model is greater than 25Mpa and the actual value of the loading flow is less than 5L / min, it is judged that the loading rake claw 6 is stuck with coal and rock, a warning is issued, and the output of the loading solenoid valve controller is stopped, and the loading work is stopped; the transportation control model also obtains the actual value of the transportation pressure. When the actual value of the transportation pressure obtained by the transportation control model is greater than 25Mpa and the actual value of the transportation flow is less than 5L / min, it is judged that the scraper chain is stuck with coal and rock, a warning is issued, and the output of the transportation solenoid valve controller and the loading solenoid valve controller are stopped, and the transportation and loading work are stopped.

[0047] This control method also includes obtaining coal-rock cutting information and constructing a coal-rock identification model. The coal-rock identification model obtains the coal-rock status of the current tunnel based on the coal-rock cutting information and outputs preset boundary conditions. The preset boundary conditions can also be manually input based on the observation conditions of the current tunnel. The coal-rock cutting information includes cutting vibration signals, cutting current signals, cutting traction speeds and cutting head postures.

[0048] The coal-rock identification model obtains the current roadway type, which includes coal roadways, rock roadways and semi-coal-rock roadways. The preset boundary conditions are the boundary values ​​of loading flow and transportation flow. The loading control model and transportation control model adjust the boundary values ​​of loading flow and transportation flow in proportion according to the proportion of coal and rock. Specifically, the maximum and minimum values ​​of the loading flow rate, the maximum and minimum values ​​of the transportation flow rate, and the selection of the main control model for loading are preset according to the boundary conditions. The coal-rock identification model obtains the coal-rock state of the current tunnel based on the cutting vibration signal, the cutting current signal, the cutting traction speed, and the cutting head posture. When the coal-rock identification model obtains that the current tunnel is a coal tunnel, the maximum and minimum values ​​of the loading flow rate are increased, and the maximum and minimum values ​​of the transportation flow rate are increased; when the coal-rock identification model obtains that the current tunnel is a rock tunnel, the maximum and minimum values ​​of the loading flow rate are reduced, and the maximum and minimum values ​​of the transportation flow rate are reduced; when the coal-rock identification model obtains that the current tunnel is half coal and rock, the maximum and minimum values ​​of the loading flow rate and the maximum and minimum values ​​of the transportation flow rate are adjusted proportionally according to the proportion of coal and rock. That is to say, when the coal-rock identification model obtains the cut rock, the amount of coal falling is reduced at this time, and the speed reduction is achieved by reducing the loading flow of the loading motor 1 and the transportation flow of the transportation motor 4. When the cut coal is obtained, the amount of coal falling is increased at this time, and the speed increase is achieved by increasing the loading flow of the loading motor 1 and the transportation flow of the transportation motor 4.

[0049] Reference Figure 4 As shown, the hydraulic system includes a drive assembly, a loading control valve assembly, a transport control valve assembly, a loading motor assembly and a transport motor assembly. The drive assembly controls the loading control valve assembly or the transport control valve assembly to adjust the loading motor assembly or the transport motor assembly. The loading control valve assembly includes a loading solenoid valve controller and a loading electro-hydraulic proportional valve connected in series. The transport control valve assembly includes a transport solenoid valve controller and a transport electro-hydraulic proportional valve connected in series. The drive assembly controls the opening and closing of the loading solenoid valve controller or the transport solenoid valve controller to control the opening size of the loading electro-hydraulic proportional valve or the transport electro-hydraulic proportional valve, thereby controlling the flow of the loading motor assembly or the transport motor assembly.

[0050] Furthermore, the hydraulic system also includes a loading pressure sensor 7, a transport pressure sensor 9, a loading flow sensor 8 and a transport flow sensor 10. The loading pressure sensor 7 and the loading flow sensor 8 are arranged in parallel between the loading electro-hydraulic proportional valve and the loading motor 1 to monitor the pressure and flow of the loading motor 1; the transport pressure sensor 9 and the transport flow sensor 10 are arranged in parallel between the transport electro-hydraulic proportional valve and the transport motor 4 to monitor the pressure and flow of the transport motor 4.

[0051] This embodiment takes the integrated digging and anchoring machine as an example. Figures 5 to 8 As shown, the loading part of this integrated mining and anchoring machine is composed of a main shovel plate, left and right telescopic shovel plates, left and right loading rake claws 6, a loading motor 1, a loading reducer 2, a loading pressure sensor 7 and a loading flow sensor 8. The star wheel is directly driven by the loading motor 1 and the loading reducer 2. The transportation part includes three parts: a front transportation trough, a middle transportation trough 3 and a conveyor tail. The conveying chain adopts a single-chain swinging scraper conveying chain. The drive of the conveying chain is achieved by two sets of conveying motors 4 and conveying reducers 5 jointly driving the sprocket. The transport pressure sensor 9 and the transport flow sensor 10 are both arranged between the conveying motor 4 and the conveying reducer 5.

[0052] The present embodiment provides an adaptive control method for loading and unloading mining equipment based on hydraulic drive, which directly judges the amount of coal falling according to the coal-rock identification model built into the cutting system and the obtained loading pressure, thereby adjusting the flow of the loading motor 1 and the transport motor 4 according to the loading pressure to achieve adaptive speed regulation, reduce the failure rate of mining equipment, improve production efficiency, reduce the wear of the loading and unloading system, and increase the life of the loading and unloading system.

[0053] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0054] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments described herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A method for adaptive control of mining equipment loading and transportation based on hydraulic drive, characterized in that: include: Acquire detection signals related to the amount of coal dropped on the hydraulic loading equipment; Constructing a main control model for loading and unloading, which outputs given values ​​of output signals of hydraulic loading equipment and hydraulic transportation equipment based on preset boundary conditions and detection signals related to the amount of coal falling; Obtaining the actual values ​​of output signals of hydraulic loading equipment and hydraulic transport equipment; A loading control model and a transportation control model are constructed. The loading control model controls the actual value of the output signal of the hydraulic loading equipment to approach the given value of the output signal of the hydraulic loading equipment based on the PID algorithm; at the same time, the transportation control model controls the actual value of the output signal of the hydraulic transportation equipment to approach the given value of the output signal of the hydraulic transportation equipment based on the PID algorithm.

2. The method for self-adaptive control of hydraulically driven mining equipment loading and transportation according to claim 1, characterized in that: The hydraulic loading device is a loading motor (1), the hydraulic transport device is a transport motor (4), the monitoring signal related to the amount of coal dropped is the loading pressure, the main transport control model outputs a given value of the loading flow rate to the loading control model, and the main transport control model outputs a given value of the transport flow rate to the transport control model; The loading control model simultaneously obtains the actual value of the loading flow rate. The loading control model controls the output of the loading solenoid valve controller based on the PID algorithm so that the actual value of the loading flow rate output by the loading motor (1) approaches the given value of the loading flow rate. The transport control model simultaneously obtains the actual value of the transport flow rate. The transport control model controls the output of the transport solenoid valve controller based on the PID algorithm, so that the actual value of the transport flow rate output by the transport motor (4) approaches the given value of the transport flow rate.

3. The method for self-adaptive control of hydraulically driven mining equipment loading and transportation according to claim 2, characterized in that: The main control model for loading includes a staged controller, which detects the actual value of the loading pressure in sections and outputs a given value of the loading flow corresponding to the actual value of each section of the loading pressure. The maximum value of the given value of the loading flow is 50-180L / min.

4. The method for self-adaptive control of hydraulically driven mining equipment loading and transportation according to claim 3 is characterized in that: The main control model for loading also includes a continuous controller, which outputs a given value of the loading flow rate based on the actual value of the loading pressure. The continuous controller is as follows: Q = 7 × P Where Q is the given value of the loading flow rate and P is the loading pressure.

5. The method for self-adaptive control of hydraulically driven mining equipment loading and transportation according to claim 4, characterized in that: The loading control model also obtains the actual value of the loading pressure. When the actual value of the loading pressure obtained by the loading control model is greater than 25Mpa and the actual value of the loading flow rate is less than 5L / min, it is determined that the loading rake claw (6) is stuck with coal and rock, a warning prompt is issued, and the output of the loading solenoid valve controller is stopped, thereby stopping the loading work.

6. The method for self-adaptive control of hydraulically driven mining equipment loading and transportation according to claim 4, characterized in that: The transportation control model also obtains the actual value of the transportation pressure. When the actual value of the transportation pressure obtained by the transportation control model is greater than 25Mpa and the actual value of the transportation flow is less than 5L / min, it is judged that the scraper chain is stuck in coal and rock, and a warning is issued. At the same time, the output of the transportation solenoid valve controller and the loading solenoid valve controller is stopped, and the transportation and loading work are stopped.

7. The method for self-adaptive control of hydraulically driven mining equipment loading and transportation according to claim 1, characterized in that: It also includes obtaining coal-rock cutting information and building a coal-rock identification 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. The preset boundary conditions can also be manually input based on the observation of the current roadway; Coal and rock cutting information includes cutting vibration signal, cutting current signal, cutting traction speed and cutting head posture.

8. The method for self-adaptive control of hydraulically driven mining equipment loading and transportation according to claim 7, characterized in that: The coal-rock identification model obtains the current roadway type, which includes coal roadways, rock roadways and semi-coal-rock roadways. The preset boundary conditions are the boundary values ​​of loading flow and transportation flow. The loading control model and transportation control model adjust the boundary values ​​of loading flow and transportation flow in proportion according to the proportion of coal and rock.

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