A mining equipment loading adaptive control method based on variable frequency drive

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 size of coal quantity, a loading adaptive control method based on frequency conversion driving of mining equipment is provided. The method comprises the following steps: obtaining a detection signal related to the coal quantity on the frequency conversion loading equipment; constructing a loading main control model, which is based on the preset boundary condition and the detection signal related to the coal quantity, and outputs the given value of the output signal of the frequency conversion loading equipment and the frequency conversion transportation equipment; obtaining the actual value of the output signal of the two frequency conversion equipment; constructing a loading control model and a transportation control model, the loading control model controls the actual value of the output signal of the frequency conversion loading equipment to approximate the given value of the output signal of the frequency conversion 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 frequency conversion transportation equipment to approximate the given value of the output signal of the frequency conversion transportation equipment based on the PID algorithm, so as to realize self-adaptive speed regulation and reduce the failure rate of the mining equipment.

Description

TECHNICAL FIELD

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

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

[0003] In order to solve the above technical problems, the application provides a mining and excavation equipment loading and transporting adaptive control method based on variable frequency driving.

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

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

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

[0007] obtaining an actual value of the output signal of the variable frequency loading device and the variable frequency transporting device;

[0008] constructing a loading control model and a transporting control model, the loading control model being based on a PID algorithm to control the actual value of the output signal of the variable frequency loading device to approximate the given value of the output signal of the variable frequency loading device, and the transporting control model being based on a PID algorithm to control the actual value of the output signal of the variable frequency transporting device to approximate the given value of the output signal of the variable frequency transporting device.

[0009] Optionally, the variable frequency loading device is a loading motor, the variable frequency transporting device is a transporting motor, the monitoring signal related to the coal falling amount is a loading active current, the loading and transporting main control model outputs the given value of the loading rotating speed to the loading control model, and the loading and transporting main control model outputs the given value of the transporting rotating speed to the transporting control model.

[0010] The loading control model simultaneously acquires an actual value of the loading rotating speed, and controls an output of the loading frequency conversion controller based on a PID algorithm, so that the actual value of the loading rotating speed output by the loading motor approaches the given value of the loading rotating speed.

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

[0012] Optionally, the loading and transportation main control model comprises a continuous controller, which outputs the given value of the loading rotating speed based on the actual value of the loading active current, and the continuous controller is as follows:

[0013] Optionally, the loading and transportation main control model further comprises a continuous controller, which outputs the given value of the loading rotating speed based on the actual value of the loading active current, and the continuous controller is as follows:

[0014] N = 27.8I + 400

[0015] Wherein, N is the given value of the loading rotating speed, and I is the actual value of the loading active current.

[0016] Optionally, the loading control model further acquires an actual value of the loading active current, and when the actual value of the loading active current acquired by the loading control model is greater than 50A and the actual value of the loading rotating speed is less than 100r / min, it is judged that the coal rock is blocked in the loading rake claw, a warning prompt is issued, and the output of the loading frequency conversion controller is stopped, and the loading work is stopped.

[0017] Optionally, the transportation control model further acquires an actual value of the transportation current, and when the actual value of the transportation current acquired by the transportation control model is greater than 50A and the actual value of the transportation rotating speed is less than 100r / min, it is judged that the coal rock is blocked in the scraper chain, a warning prompt is issued, and the outputs of the transportation frequency conversion controller and the loading frequency conversion controller are stopped, and the transportation and loading work are stopped.

[0018] Optionally, it further comprises acquiring coal rock cutting information, constructing a coal rock identification model, the coal rock identification model obtaining the coal rock state of the current roadway based on the coal rock cutting information, and outputting a preset boundary condition, and the preset boundary condition can also be manually inputted based on the observation of the current roadway.

[0019] The coal rock cutting information comprises a cutting vibration signal, a cutting current signal, a cutting traction speed and a cutting head pose.

[0020] Optionally, the coal rock identification model obtains a current roadway type, the current roadway type including a coal roadway, a rock roadway and a semi-coal rock roadway, preset boundary conditions being boundary values of loading rotation speed and boundary values of transportation rotation speed, and the loading control model and the transportation control model respectively adjust the boundary values of the loading rotation speed and the boundary values of the transportation rotation speed according to a proportion of the coal rock.

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

[0022] The mining and loading equipment adaptive control method based on frequency conversion driving provided by the embodiment of the present application directly judges how much coal is dropped according to the coal rock identification model built in the cutting system and the actual value of the loading active current, thereby adjusting the rotation speed of the frequency conversion loading equipment and the frequency conversion transportation equipment according to the size of the actual value of the loading active current, to realize adaptive speed regulation, reduce the failure rate of the mining and loading equipment, improve the production efficiency, reduce the wear of the loading and transportation system and improve the service life of the loading and transportation system. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate an embodiment consistent with the present application and, together with the description, serve to explain the principles of the application.

[0024] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0025] Figure 1 The flow chart of the mining and loading equipment adaptive control method based on frequency conversion driving described in the embodiment of the present application;

[0026] Figure 2 The schematic diagram of the sectional controller described in the embodiment of the present application;

[0027] Figure 3 The schematic diagram of the continuous controller described in the embodiment of the present application;

[0028] Figure 4 The structural schematic diagram of the loading and transportation system described in the embodiment of the present application;

[0029] Figure 5 The structural schematic diagram of the loading and transportation system described in the embodiment of the present application from another perspective;

[0030] Figure 6 The structural schematic diagram of the loading system described in the embodiment of the present application;

[0031] Figure 7The structure diagram of the tail of the transport machine.

[0032] 1, loading motor; 2, loading reducer; 3, front transport groove; 4, transport motor; 5, transport reducer; 6, loading rake claw; 7, middle transport groove; 8, transport machine tail. DETAILED DESCRIPTION

[0033] In order to enable the above-mentioned purposes, features and advantages of the present application to be more clearly understood, the schemes of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0034] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some of the embodiments of the present application, not all the embodiments.

[0035] Reference Figures 1 to 3 As shown in the drawings, the embodiment provides a mining and loading equipment loading and unloading adaptive control method based on variable frequency driving, comprising:

[0036] Obtaining a detection signal related to the coal falling amount on the variable frequency loading device;

[0037] Constructing a loading and unloading main control model, the loading and unloading main control model outputs a given value of the variable frequency loading device and the variable frequency transport device output signal based on the preset boundary condition and the detection signal related to the coal falling amount;

[0038] Obtaining an actual value of the variable frequency loading device and the variable frequency transport device output signal;

[0039] Constructing a loading control model and a transport control model, the loading control model controls the actual value of the variable frequency loading device output signal to approximate the given value of the variable frequency loading device output signal based on the PID algorithm; at the same time, the transport control model controls the actual value of the variable frequency transport device output signal to approximate the given value of the variable frequency transport device output signal based on the PID algorithm.

[0040] Further, in this embodiment, the frequency conversion loading device is the loading motor 1, the frequency conversion conveying device is the conveying motor 4, the monitoring signal related to the coal falling amount is the loading active current, the loading speed given value is outputted by the loading main control model to the loading control model, the conveying speed given value is outputted by the loading main control model to the conveying control model; the actual value of the loading speed is obtained by the loading control model at the same time, the output of the loading frequency conversion controller is controlled by the loading control model based on the PID algorithm, so that the actual value of the loading speed outputted by the loading motor 1 approximates to the loading speed given value; the actual value of the conveying speed is obtained by the conveying control model at the same time, the output of the conveying frequency conversion controller is controlled by the conveying control model based on the PID algorithm, so that the actual value of the conveying speed outputted by the conveying motor 4 approximates to the conveying speed given value. Specifically, in this embodiment, the loading active current is obtained by taking the integrated machine as an example, so that the material stacking condition on the shovel plate of the integrated machine can be judged, the loading active current is calculated by the loading apparent current and the power factor, that is, the loading apparent current and the power factor are obtained at the same time, if the power factor is less than 0.8, the power factor is used as the reference to adjust the loading speed and the conveying speed, if the power factor is greater than 0.8, the loading apparent current is used as the reference to adjust the loading speed and the conveying speed, so that the loading motor 1 and the conveying motor 4 are used in the constant torque interval, and are prevented from entering the constant power interval, specifically, when the actual value of the obtained loading active current increases, it is considered that the material stacked on the shovel plate increases, at this time, the loading speed and the conveying speed are increased, so that the material is conveyed in time, when the actual value of the obtained loading active current decreases, it is considered that the material stacked on the shovel plate decreases, at this time, the loading speed and the conveying speed are decreased, so that the system energy consumption and the abrasion of the scraper conveyor and the loading rake claw 6 are reduced, wherein, the loading speed given value is outputted by the loading main control model to the loading control model in time, when the conveying speed given value outputted by the loading main control model becomes larger, it is sent to the conveying control model in time, when the conveying speed given value outputted by the loading main control model becomes smaller, it needs to be sent to the conveying control model after being delayed for a corresponding time according to the current conveying speed and the length of the scraper chain.

[0041] Further, the loading main control model comprises a stage controller, the stage controller detects the actual value of the loading active current in sections, and outputs the loading speed given value corresponding to the actual value of the loading active current in each section, the maximum value of the loading speed given value is 500-3000 r / min. Referring to Figure 2As shown, the staged controller divides the loading active current into two or more segments for detection, usually 3-7 segments for detection, when the model changes and the maximum value of the given value of the loading speed decreases from 3000 r / min to 500 r / min, the given value of the loading speed output by each segment of the staged controller decreases in proportion, wherein the given value of the loading speed output by a certain segment of the staged controller is the average of the given value of the loading speed output by the next segment and the given value of the loading speed output by the previous segment, specifically, when the loading active current is 5-10 A, the given value of the loading speed is 400 r / min; when the loading active current is 10-15 A, the given value of the loading speed is 600 r / min; when the loading active current is 15-20 A, the given value of the loading speed is 800 r / min; when the loading active current is 20-25 A, the given value of the loading speed is 1000 r / min; when the loading active current is 25-30 A, the given value of the loading speed is 1200 r / min; when the loading active current is 30-35 A, the given value of the loading speed is 1400 r / min.

[0042] Referring to Figure 3 As shown, the shipment main control model further includes a continuous controller, which outputs the given value of the loading speed based on the actual value of the loading active current, specifically, the given value of the loading speed increases linearly with the actual value of the loading active current obtained by the shipment main control model, the continuous controller is N=27.8I+400, wherein N is the given value of the loading speed and I is the actual value of the loading active current.

[0043] The given value of the transport speed output by the shipment main control model is the same as the given value of the loading speed, both of which include two kinds of staged controllers and continuous controllers, and the range of the actual value of the transport current and the given value of the transport speed is the same as the range of the actual value of the loading active current and the given value of the loading speed.

[0044] In some embodiments, the loading control model also obtains the actual value of the loading active current, when the actual value of the loading active current obtained by the loading control model is greater than 50 A and the actual value of the loading speed is less than 100 r / min, it is judged that the coal rock is blocked in the loading rake 6, a warning prompt is issued, and the output of the loading frequency converter controller is stopped, and the loading work is stopped; the transport control model also obtains the actual value of the transport current, when the actual value of the transport current obtained by the transport control model is greater than 50 A and the actual value of the transport speed is less than 100 r / min, it is judged that the coal rock is blocked in the scraper chain, a warning prompt is issued, and the outputs of the transport frequency converter controller and the loading frequency converter controller are stopped, and the transport and loading work is stopped.

[0045] 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.

[0046] 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 speed and transport speed. The loading control model and transport control model adjust the boundary values ​​of loading speed and transport speed proportionally according to the proportion of coal and rock. Specifically, the preset boundary conditions are the maximum and minimum loading speeds of the loading motor 1 and the maximum and minimum transport speeds of the transport motor 4. 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 current roadway is identified as a coal roadway, the maximum and minimum loading speeds and the maximum and minimum transport speeds are increased. When the current roadway is identified as a rock roadway, the maximum and minimum loading speeds and the maximum and minimum transport speeds are decreased. When the current roadway is identified as a semi-coal and rock roadway, the maximum and minimum loading speeds and the maximum and minimum transport speeds are adjusted proportionally according to the proportion of coal and rock. In other words, when rock is cut, the amount of coal falling decreases, and the speed is reduced by decreasing the loading and transport speeds. When coal is cut, the amount of coal falling increases, and the speed is increased by increasing the loading and transport speeds.

[0047] In some embodiments, the loading motor 1 is provided with a loading current sensor and a loading power sensor, which are used to monitor the current and power of the loading motor 1, respectively; the transport motor 4 is provided with a transport current sensor and a transport power sensor, which are used to monitor the current and power of the transport motor 4, respectively.

[0048] This embodiment uses a tunneling and anchoring integrated machine as an example, referring to... Figures 4 to 7 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 current sensor, and a loading power sensor. The star wheel is directly driven by the loading motor 1 and the loading reducer 2. The transport section includes three parts: a front transport trough 3, a middle transport trough 7, and a transport tail 8. The conveyor chain adopts a single-chain swing scraper conveyor chain. The conveyor chain is driven by two sets of transport motors 4 and transport reducers 5 jointly driving the sprocket. The transport current sensor and the transport power sensor are located in the transport motor 4.

[0049] The loading motor 1 and the transportation motor 4 in the embodiment are explosion-proof motors, and the loading current sensor, the loading power sensor, the transportation current sensor and the transportation power sensor are integrated with the loading motor 1 and the transportation motor 4 for explosion-proof treatment.

[0050] Of course, the mining equipment loading and transportation adaptive control method based on variable frequency driving provided by the embodiment is also applicable to the mining equipment such as the heading machine and the continuous miner.

[0051] The mining equipment loading and transportation adaptive control method based on variable frequency driving provided by the embodiment directly judges the amount of falling coal according to the coal and rock identification model built in the cutting system and the loading active current obtained, and adjusts the rotating speed of the loading motor 1 and the transportation motor 4 according to the size of the loading active current, so as to realize adaptive speed regulation, reduce the failure rate of the mining equipment, improve the production efficiency, reduce the wear of the loading and transportation system and improve the service life of the loading and transportation system.

[0052] It should be noted that, in this document, the terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or equipment including the element.

[0053] The above is only a specific embodiment of the present application, which enables those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An adaptive control method for transporting mining equipment based on variable frequency drive, characterized in that, include: Acquire detection signals related to coal drop volume on the variable frequency loading equipment, and acquire coal and rock cutting information, including cutting vibration signal, cutting current signal, cutting traction speed and cutting head posture; A coal and rock identification model is constructed. Based on the coal and rock cutting information, the coal and rock identification model obtains the coal and rock status of the current roadway 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 identification model obtains the current roadway type, which includes coal roadway, rock roadway and semi-coal and rock roadway. The preset boundary conditions are the boundary values ​​of loading speed and transport speed. 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 variable frequency loading equipment and the variable frequency transportation equipment. Obtain the actual values ​​of the output signals of the variable frequency loading equipment and the variable frequency transport equipment; A loading control model and a transportation control model are constructed. Based on the proportion of coal and rock, the boundary values ​​of the loading speed and the transportation speed are adjusted proportionally. The loading control model uses a PID algorithm to control the actual value of the output signal of the variable frequency loading equipment to approximate the given value of the output signal of the variable frequency loading equipment. At the same time, the transportation control model uses a PID algorithm to control the actual value of the output signal of the variable frequency transportation equipment to approximate the given value of the output signal of the variable frequency transportation equipment.

2. The adaptive control method for transporting mining equipment based on variable frequency drive according to claim 1, characterized in that, The variable frequency loading equipment is a loading motor (1), the variable frequency transport equipment is a transport motor (4), the monitoring signal related to the amount of coal falling is the loading active current, the loading main control model outputs the given value of the loading speed to the loading control model, and the loading main control model outputs the given value of the transport speed to the transport control model. The loading control model simultaneously obtains the actual value of the loading speed. The loading control model controls the output of the loading frequency converter based on the PID algorithm, so that the actual value of the loading speed output by the loading motor (1) approaches the given value of the loading speed. The transportation control model simultaneously obtains the actual value of the transportation speed. The transportation control model controls the output of the transportation frequency converter based on the PID algorithm, so that the actual value of the transportation speed output by the transportation motor (4) is close to the given value of the transportation speed.

3. The adaptive control method for transporting mining equipment based on variable frequency drive according to claim 2, characterized in that, The main control model for loading includes a staged controller. The staged controller detects the actual value of the loading active current in segments and outputs a given value for the loading speed corresponding to the actual value of the loading active current in each segment. The maximum value of the given value for the loading speed is 500-3000 r / min.

4. The adaptive control method for transporting mining equipment based on variable frequency drive according to claim 3, characterized in that, The main control model for loading also includes a continuous controller, which outputs a given value for the loading speed based on the actual value of the loading active current. The continuous controller is as follows: in, Given the loading speed, This represents the actual value of the active current loaded.

5. The adaptive control method for transporting mining equipment based on variable frequency drive according to claim 4, characterized in that, The loading control model also obtains the actual value of the loading active current. When the actual value of the loading active current obtained by the loading control model is greater than 50A and the actual value of the loading speed is less than 100r / 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 frequency converter is stopped, and the loading work is stopped.

6. The adaptive control method for transporting mining equipment based on variable frequency drive according to claim 4, characterized in that, The transportation control model also acquires the actual value of the transportation current. When the actual value of the transportation current acquired by the transportation control model is greater than 50A and the actual value of the transportation speed is less than 100r / 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 frequency converter and the loading frequency converter are stopped, and the transportation and loading work is stopped.

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