A hydraulic drive-based mining equipment loading adaptive control method

Abstract

The present application belongs to the technical field of roadway tunneling. In order to solve the problem that the existing loading system cannot realize self-adaptive speed regulation by monitoring the amount of coal, a kind of adaptive control method of mining equipment loading based on hydraulic drive is provided, which comprises the following steps: obtaining the detection signal related to the amount of coal on the hydraulic loading equipment; constructing a main control model of loading, which is based on the preset boundary condition and the detection signal related to the amount of coal, and outputs the given value of the output signal of the hydraulic loading equipment and the hydraulic transport equipment; obtaining the actual value of the output signal of the two hydraulic equipment; constructing a loading control model and a transport control model, the loading control model controls the actual value of the output signal of the hydraulic loading equipment to approximate the given value of the output signal of the hydraulic loading equipment based on the PID algorithm; at the same time, the transport control model controls the actual value of the output signal of the hydraulic transport equipment to approximate the given value of the output signal of the hydraulic transport equipment based on the PID algorithm, realizes self-adaptive speed regulation, and reduces the failure rate of the mining equipment.

Description

Technical Field

[0001] This invention belongs to the field of tunnel excavation technology, and particularly relates to an adaptive control method for transporting mining equipment based on hydraulic drive. Background Technology

[0002] Rapid tunneling systems based on integrated roadheader-anchor machines are currently the core equipment for rapid roadway excavation in coal mines. Current integrated roadheader-anchor machines use constant-speed drive for both loading and transport. However, for semi-coal and rock formations, the rock cutting speed is slow with a small loading capacity, while the coal cutting speed is fast with a large loading capacity. Constant-speed operation during loading and transport inevitably leads to unnecessary wear on the scraper and chain. Therefore, it is necessary to operate at idle speed when there is little material and at high speed when there is a large amount of material. Furthermore, during tunneling, there are adverse working conditions such as spalling and crossing faults. In these situations, the amount of coal dropped may be excessive or insufficient, causing the front-end loading mechanism's rake claws to become jammed or the rear-end transport mechanism's scraper chain to become stuck with rock cuttings, thus delaying the tunneling progress. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides an adaptive control method for the loading and unloading of hydraulically driven mining equipment, which enables adaptive speed regulation and improves production efficiency.

[0004] This invention provides an adaptive control method for the transport of hydraulically driven mining equipment, comprising:

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

[0006] A loading and unloading main control model is constructed. Based on preset boundary conditions and detection signals related to the amount of coal dropped, the loading and unloading main control model outputs the given values ​​of the output signals of the hydraulic loading equipment and the hydraulic transportation equipment.

[0007] Obtain the actual values ​​of the output signals from hydraulic loading equipment and hydraulic transportation equipment;

[0008] A loading control model and a transportation control model are constructed. The loading control model uses a PID algorithm to control the actual value of the hydraulic loading equipment's output signal to approximate the given value of the hydraulic loading equipment's output signal. At the same time, the transportation control model uses a PID algorithm to control the actual value of the hydraulic transportation equipment's output signal to approximate the given value of the hydraulic transportation equipment's output signal.

[0009] Optionally, the hydraulic loading equipment is a loading motor, the hydraulic transport equipment is a transport motor, the monitoring signal related to the amount of coal falling is the loading pressure, the loading main control model outputs the given value of the loading flow rate to the loading control model, and the loading main control model outputs the given value of the transport flow rate to the transport control model.

[0010] The loading control model simultaneously acquires the actual value of the loading flow rate. Based on the PID algorithm, the loading control model controls the output of the loading solenoid valve controller 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 transportation control model simultaneously acquires the actual value of the transportation flow. Based on the PID algorithm, the transportation control model controls the output of the transportation solenoid valve, so that the actual value of the transportation flow output by the transportation motor is close to the given value of the transportation flow.

[0012] Optionally, the main control model for loading includes a staged controller. The staged 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 is 50-180 L / min.

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

[0014] Q = 7 × P

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

[0016] Optionally, 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 loading rake 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.

[0017] Optionally, the transportation control model also acquires the actual value of the transportation pressure. When the actual value of the transportation pressure acquired by the transportation control model is greater than 25 MPa and the actual value of the transportation flow rate is less than 5 L / min, it is determined that the scraper chain is stuck in coal and rock, a warning is issued, and the output of the transportation solenoid valve controller and the loading solenoid valve controller are stopped, thus stopping the transportation and loading operations.

[0018] Optionally, it also includes acquiring coal and rock cutting information, constructing a coal and rock identification model, obtaining the coal and rock status of the current roadway based on the coal and rock cutting information, and outputting preset boundary conditions. The preset boundary conditions can also be manually input based on the observation of the current roadway.

[0019] The coal and rock cutting information includes cutting vibration signal, cutting current signal, cutting traction speed, and cutting head position.

[0020] Optionally, 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 loading flow and transportation flow. The loading control model and transportation control model adjust the boundary values ​​of loading flow and transportation flow proportionally according to the proportion of coal and rock.

[0021] The technical solution provided by the embodiments of the present invention has the following beneficial effects compared with the prior art:

[0022] This invention provides an adaptive control method for loading and unloading mining equipment based on hydraulic drive. The method directly judges the amount of coal dropped based on the coal and rock identification model built into the cutting system and the acquired loading pressure. The flow rate of the hydraulic loading equipment and the hydraulic transport equipment is adjusted according to the loading pressure to achieve adaptive speed regulation, reduce the failure rate of mining equipment, improve production efficiency, reduce wear on the loading and unloading system, and extend the service life of the loading and unloading system. Attached Figure Description

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

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of an adaptive control method for transporting mining equipment based on hydraulic drive, as described in an embodiment of the present invention.

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

[0027] Figure 3 This is a schematic diagram of the continuous controller described in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the hydraulic system described in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the transport system described in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the transport system described in an embodiment of the present invention from another perspective;

[0031] Figure 7This is a schematic diagram of the loading system described in an embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the structure of the tail section of the transport aircraft according to an embodiment of the present invention.

[0033] Among them, 1. Loading motor; 2. Loading reducer; 3. Central transport trough; 4. Transport motor; 5. Transport reducer; 6. Loading rake; 7. Loading pressure sensor; 8. Loading flow sensor; 9. Transport pressure sensor; 10. Transport flow sensor. Detailed Implementation

[0034] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0035] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

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

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

[0038] A loading and unloading main control model is constructed. Based on preset boundary conditions and detection signals related to the amount of coal dropped, the loading and unloading main control model outputs the given values ​​of the output signals of the hydraulic loading equipment and the hydraulic transportation equipment.

[0039] Obtain the actual values ​​of the output signals from hydraulic loading equipment and hydraulic transportation equipment;

[0040] A loading control model and a transportation control model are constructed. The loading control model uses a PID algorithm to control the actual value of the hydraulic loading equipment's output signal to approximate the given value of the hydraulic loading equipment's output signal. At the same time, the transportation control model uses a PID algorithm to control the actual value of the hydraulic transportation equipment's output signal to approximate the given value of the hydraulic transportation equipment's output signal.

[0041] The hydraulic loading equipment is a loading motor 1, and the hydraulic transport equipment is a transport motor 4. The monitoring signal related to the coal falling amount is the loading pressure. The main control model of loading outputs the given value of the loading flow rate to the loading control model, and the main control model of loading outputs the given value of the transport flow rate to the transport control model. The loading control model simultaneously acquires the actual value of the loading flow rate and 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 is close to the given value of the loading flow rate. The transport control model simultaneously acquires the actual value of the transport flow rate and 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 is close to the given value of the transport flow rate.

[0042] Specifically, this embodiment takes a tunneling and anchoring machine as an example. By obtaining the loading pressure, the current material accumulation on the shovel of the tunneling and anchoring machine can be determined. Then, the loading flow rate of the loading motor 1 and the transport flow rate of the transport motor 4 are determined. When the loading pressure increases, it indicates that the material accumulated on the shovel has increased. At this time, the loading flow rate of the loading motor 1 and the transport flow rate of the transport motor 4 are increased to transport the accumulated material out in time. When the loading pressure decreases, it indicates that the material accumulated on the shovel has decreased. At this time, the loading flow rate of the loading motor 1 and the transport flow rate of the transport motor 4 are decreased, thereby reducing the system energy consumption and the wear of the scraper conveyor and rake claws. The given value of the loading flow rate output by the main control model is sent to the loading control model in a timely manner. When the given value of the transport flow rate output by the main control model increases, the main control model outputs the given value of the transport flow rate to the transport control model in a timely manner. When the given value of the output transport flow rate decreases, the main control model needs to delay the output of the given value of the transport flow rate to the transport control model according to the current transport speed and the length of the scraper chain.

[0043] Furthermore, the main control model for loading includes a staged controller. This staged controller detects the actual loading pressure in segments and outputs a setpoint for the loading flow rate corresponding to each segment's actual loading pressure. The maximum value of the setpoint for the loading flow rate is 50-180 L / min. For details, refer to... Figure 2As shown, the staged controller divides the loading pressure into two or more segments for detection, typically 3-7 segments. The maximum setpoint for the loading flow rate is 50-180 L / min. When the machine model changes, and the maximum setpoint for the loading flow rate decreases from 180 L / min to 50 L / min, the setpoint for the loading flow rate output by each segment in the staged controller decreases proportionally. Specifically, the setpoint for the loading flow rate output by a particular segment in the staged controller is the average of the setpoints for the loading flow rate output by the next segment and the previous segment. In detail, when... When the actual loading pressure is between 0-5 MPa, the given loading flow rate is 20 L / min; when the actual loading pressure is between 5-10 MPa, the given loading flow rate is 60 L / min; when the actual loading pressure is between 10-15 MPa, the given loading flow rate is 100 L / min; when the actual loading pressure is between 15-20 MPa, the given loading flow rate is 140 L / min; and when the actual loading pressure is between 20-25 MPa, the given loading flow rate is 180 L / min.

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

[0045] Among them, the given value of the output transport flow of the main control model is the same as the given value of the output loading flow. It also includes two types: staged controller and continuous controller. The range settings of the actual value of transport pressure and the given value of transport flow are the same as the range of the actual value of loading pressure and the given value of loading flow.

[0046] In some embodiments, 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 determines that the loading rake claw 6 is stuck in coal and rock, issues a warning, stops the output of the loading solenoid valve controller, and stops the loading operation. The transportation control model also acquires the actual value of the transportation pressure. When the actual value of the transportation pressure acquired by the transportation control model is greater than 25 MPa and the actual value of the transportation flow rate is less than 5 L / min, it determines that the scraper chain is stuck in coal and rock, issues a warning, and stops the output of the transportation solenoid valve controller and the loading solenoid valve controller, stopping the transportation and loading operations.

[0047] This control method also includes acquiring coal and rock cutting information, constructing a coal and rock identification model, obtaining the current coal and rock state of the roadway based on the coal and rock cutting information, and outputting preset boundary conditions. The preset boundary conditions can also be manually input based on the observation of the current roadway. The coal and rock cutting information includes cutting vibration signal, cutting current signal, cutting traction speed, and cutting head pose.

[0048] 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 loading flow and transportation flow. The loading control model and transportation control model adjust the boundary values ​​of loading flow and transportation flow proportionally according to the proportion of coal and rock. Specifically, the system presets the maximum and minimum values ​​of the loading flow rate and the transportation flow rate as boundary conditions, and selects the main control model for loading and unloading. The coal and rock identification model obtains the coal and rock state of the current roadway based on the cutting vibration signal, cutting current signal, cutting traction speed, and cutting head pose. When the coal and rock identification model determines that the current roadway is a coal roadway, it increases the maximum and minimum values ​​of the loading flow rate and the transportation flow rate. When the coal and rock identification model determines that the current roadway is a rock roadway, it decreases the maximum and minimum values ​​of the loading flow rate and the transportation flow rate. When the coal and rock identification model determines that the current roadway is a semi-coal and rock roadway, it adjusts the maximum and minimum values ​​of the loading flow rate and the transportation flow rate proportionally according to the proportion of coal and rock. In other words, when the coal and rock identification model determines that rock is being cut, the amount of coal falling decreases, and the speed is reduced by decreasing the loading flow rate of loading motor 1 and the transportation flow rate of transportation motor 4. When coal is being cut, the amount of coal falling increases, and the speed is increased by increasing the loading flow rate of loading motor 1 and the transportation flow rate of 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 regulate 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 degree of the loading electro-hydraulic proportional valve or the transport electro-hydraulic proportional valve, thereby controlling the flow rate 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 connected 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 connected 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 uses a tunneling and anchoring integrated machine as an example, referring to... Figures 5 to 8 As shown, the loading section of this integrated excavator and anchorer consists of a main shovel, left and right telescopic shovels, left and right loading rakes 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 transport section includes a front transport trough, a middle transport trough 3, and a transport tail section. The conveyor chain adopts a single-chain swing scraper conveyor chain. The conveyor chain is driven by two sets of conveyor motors 4 and conveyor reducers 5, which jointly drive the sprocket. The transport pressure sensor 9 and the transport flow sensor 10 are both located between the conveyor motor 4 and the conveyor reducer 5.

[0052] This embodiment provides an adaptive control method for loading and unloading mining equipment based on hydraulic drive. The method directly judges the amount of coal dropped based on the coal and rock identification model built into the cutting system and the acquired loading pressure. The flow rate of the loading motor 1 and the transport motor 4 is adjusted according to the loading pressure to achieve adaptive speed regulation, reduce the failure rate of mining equipment, improve production efficiency, reduce wear and tear on the loading and unloading system, and extend the service life of the loading and unloading system.

[0053] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0054] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily 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 invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. An adaptive control method for transporting mining equipment based on hydraulic drive, characterized in that, include: Acquire detection signals related to the amount of coal falling from the hydraulic loading equipment; the monitoring signal related to the amount of coal falling is the loading pressure. A loading and transport main control model is constructed. The loading and transport main control model outputs the given values ​​of the output signals of the hydraulic loading equipment and the hydraulic transport equipment based on the preset boundary conditions and the detection signals related to the amount of coal falling. The hydraulic loading equipment is the loading motor (1) and the hydraulic transport equipment is the transport motor (4). Obtain the actual values ​​of the output signals from hydraulic loading equipment and hydraulic transportation equipment; A loading control model and a transportation control model are constructed. The loading main control model outputs the given value of the loading flow rate to the loading control model, and the loading main control model outputs the given value of the transportation flow rate to the transportation control model. The loading control model controls the actual value of the output signal of the hydraulic loading equipment based on the PID algorithm to approximate the given value of the output signal of the hydraulic loading equipment. The loading control model also 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) approximates the given value of the loading flow rate. At the same time, the transportation control model controls the actual value of the output signal of the hydraulic transportation equipment based on the PID algorithm to approximate the given value of the output signal of the hydraulic transportation equipment. The transportation control model also obtains the actual value of the transportation flow rate. The transportation control model controls the output of the transportation solenoid valve controller based on the PID algorithm so that the actual value of the transportation flow rate output by the transportation motor (4) approximates the given value of the transportation flow rate.

2. The adaptive control method for transporting mining equipment based on hydraulic drive according to claim 1, characterized in that, The main control model for loading includes a staged controller. The staged 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 is 50-180 L / min.

3. The adaptive control method for transporting mining equipment based on hydraulic drive according to claim 2, characterized in that, The main control model for shipment also includes a continuous controller, which outputs a given value for the loading flow rate based on the actual value of the loading pressure. The continuous controller is as follows: In the formula, Given a value for the loading flow rate, For loading pressure.

4. The adaptive control method for transporting mining equipment based on hydraulic drive according to claim 3, 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 25 MPa and the actual value of the loading flow is less than 5 L / min, it is determined that the loading rake (6) is stuck in coal and rock, a warning is issued, and the output of the loading solenoid valve controller is stopped, and the loading work is stopped.

5. The adaptive control method for transporting mining equipment based on hydraulic drive according to claim 3, 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 25 MPa and the actual value of the transportation flow rate is less than 5 L / 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 transportation solenoid valve controller and the loading solenoid valve controller are stopped, and the transportation and loading operations are stopped.

6. The adaptive control method for transporting mining equipment based on hydraulic drive according to claim 1, characterized in that, It also includes acquiring coal and rock cutting information, constructing a coal and rock identification model, which obtains the coal and rock status of the current roadway based on the coal and 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. The coal and rock cutting information includes cutting vibration signal, cutting current signal, cutting traction speed, and cutting head position.

7. The adaptive control method for transporting mining equipment based on hydraulic drive according to claim 6, characterized in that, 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 loading flow and transportation flow. The loading control model and transportation control model adjust the boundary values ​​of loading flow and transportation flow proportionally according to the proportion of coal and rock.

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