Electric traction dual-drive control system and method for coal mining machine

Abstract

The invention relates to the technical field of electromechanical control, in particular to an electric traction dual-drive control system and method for a coal mining machine, and the system comprises a control subsystem, an adjustable power supply subsystem, an adjustable load subsystem, a loading test bench and a data monitoring assembly. The method comprises the following steps: outputting a zero load torque through a loading test bench, and performing data exception verification in a resistance-free traction operation state; the driving loading test bench outputs load torque based on a preset rotating speed I, and data abnormity verification of a resistance traction operation state is carried out; the loading test bench is controlled to decelerate and increase the output load torque, and data abnormity verification of the inclined upslope traction operation state is carried out; and the loading test bench is controlled to increase the speed and reduce the output load torque based on the first preset rotating speed, and data abnormity verification of the inclined downhill traction operation state is carried out. Synchronous control is realized to carry out a power balance test, and a power imbalance state of an electric traction system of a coal mining machine in an uphill or downhill state can be simulated to carry out an operation condition test.

Description

Technical Field

[0001] The present invention relates to the field of electromechanical control technology, and in particular to a coal mining electromechanical traction dual-drive control system and method. Background Art

[0002] As one of the most crucial pieces of equipment in mechanized coal mining, the performance of the shearer's travel system directly impacts mining efficiency. The traction system, a crucial mechanism responsible for driving the shearer's travel, is currently primarily electric, with power typically provided by two high-power asynchronous motors. However, the volatile working conditions of the coal mining face can lead to problems such as violent load fluctuations in the traction system. Even with the same motor model, ensuring completely consistent power output is difficult. Furthermore, when operating uphill or downhill, the shearer can easily lead to power imbalances between the two traction inverters, causing unbalanced load distribution in the traction system, which in turn can cause motor underload or overload. The underloaded motor can even become a load for the other motor, increasing the power difference between the two motors and making it prone to protective shutdowns or equipment damage.

[0003] Coal mining regulations and industry standards require that all models of shearer electric traction systems undergo speed regulation performance testing and other tests. However, traditional testing methods typically involve testing a single electric traction system motor using a DC or AC motor. Summary of the Invention

[0004] To solve the above problems, the present invention provides a coal mining machine electric traction dual drive control test system, including a control subsystem, an adjustable power subsystem, an adjustable load subsystem, a loading test bench and a data monitoring component; the control subsystem is electrically connected to the adjustable power subsystem, the adjustable load subsystem and the data monitoring component respectively, and the adjustable load subsystem and the data monitoring component are connected to the loading test bench;

[0005] The control subsystem is used to issue control instructions to control the drive outputs of the adjustable power subsystem and the adjustable load subsystem respectively, and obtain test data from the loading test bench collected by the data monitoring component to perform dual-drive control stability testing of the electric traction system;

[0006] The adjustable power supply subsystem is used to electrically connect the electric traction system of the coal mining machine, provide power to the electric traction system, and adjust the drive of the electric traction system according to the control instructions of the control subsystem;

[0007] The adjustable load subsystem is used to receive control instructions from the control subsystem to generate driving power and drive the operation of the control loading test bench;

[0008] The loading test bench is used to connect the electric traction system and generate load torque according to the driving power of the adjustable load subsystem to conduct towing tests on the electric traction system;

[0009] The data monitoring component is used to collect real-time motor speed, motor torque, and power signal data during the towing test between the loading test bench and the electric traction system.

[0010] In a specific embodiment, the adjustable power subsystem includes a power supply switch device, a frequency converter and a voltage regulator, and the frequency converter is electrically connected to the power supply switch device and the voltage regulator respectively.

[0011] The adjustable load subsystem includes an isolation transformer, a phase-shifting transformer and an inverter rectifier.

[0012] In order to realize the loading test of the dual motors of the electric traction system, the loading test bench includes two loading units, each of which is composed of a wide-speed DC motor and a DC speed regulator electrically connected.

[0013] In order to realize data monitoring during the test overload, the data monitoring component includes a speed and torque sensor, an electric energy detection sensor and a power meter.

[0014] Another aspect of the present invention provides a coal mining machine electric traction dual drive control test method, which is applied to the coal mining machine electric traction dual drive control test system described above, and the method comprises:

[0015] S1. Set the motor operating modes of the loading test bench and the electric traction system respectively; set the wide-speed DC motor of the loading test bench to the motor speed mode, and set the AC asynchronous motor of the electric traction system to the motor torque mode;

[0016] S2. The loading unit of the loading test bench outputs zero load torque to drive the dual motors of the electric traction system to perform a no-load test, simulating the unresistance traction operation of the electric traction system. The motor speed and inverter power data corresponding to the dual motors of the electric traction system are collected, and the data abnormality check of the unresistance traction operation is performed to determine the primary check result.

[0017] S3. Drive the loading unit of the loading test bench to a preset speed of one, output a load torque based on the preset speed of one, and synchronously load the speeds of the dual motors of the electric traction system to the preset speed of one, simulating the resistance traction operation of the electric traction system. Collect motor torque and inverter power data of the electric traction system, perform an anomaly check on the data under the resistance traction operation, and determine the secondary check result.

[0018] S4: Based on the fact that the motor speeds of the dual motors of the electric traction system in S3 remain unchanged, the two loading units of the loading test bench are controlled to reduce their speeds and increase their output load torque, simulating the electric traction system's uphill traction operation. The motor torque and inverter power data of the electric traction system are collected, and data anomaly checks are performed on the uphill traction operation data, with the results of three checks being determined.

[0019] S5. Based on S3, the motor speeds of the dual motors of the electric traction system remain unchanged. The two loading units of the loading test bench are controlled to respectively increase and reduce the output load torque based on a preset speed, simulating the electric traction system's inclined downhill traction operation state. The motor torque and inverter power data of the electric traction system are collected. The data of the inclined downhill traction operation state is checked for abnormalities, and the results of the four checks are determined.

[0020] S6. Perform test inspection of the dual drive control of the electric traction system based on the first verification result, the second verification result, the third verification result, and the fourth verification result.

[0021] The motor torque and inverter power data of the electric traction system are collected in S3, and the data abnormality check of the resistance traction operation state is performed to determine the secondary check result, specifically:

[0022] S3.1. Determine the motor torques of the dual motors in the electric traction system. If the difference between the motor torques of the two motors is less than the torque error threshold, proceed to S3.2. If the difference between the motor torques of the two motors is greater than or equal to the torque error threshold, the secondary verification result is abnormal.

[0023] S3.2. Based on the torque data of the dual motors of the electric traction system, the inverter power data is judged. If the difference in the inverter power data is less than the power error threshold, the secondary verification result is normal; if the difference in the inverter power data is greater than or equal to the power error threshold, the secondary verification result is abnormal.

[0024] In a specific implementation, the rotational speeds of the wide-speed DC motors of the two loading units after deceleration in S4 are different.

[0025] S4 collects the motor torque and inverter power data of the electric traction system, performs data abnormality verification for the inclined uphill traction operation state, and determines three verification results, specifically:

[0026] S4.1. Obtain a motor drive power value of a single motor according to the motor speed and motor torque of the single motor of the electric traction system; the motor drive power value is obtained by multiplying the motor speed and the motor torque.

[0027] S4.2. Determine a maximum driving power threshold value according to the acquired motor driving power value; the maximum driving power threshold value is the motor driving power value multiplied by a fixed proportional coefficient.

[0028] S4.3. Compare the inverter power data of a single motor with the corresponding maximum drive power threshold. If the inverter power data is less than the maximum drive power threshold, the three verification results are normal; if the inverter power data is greater than the maximum drive power threshold, the three verification results are abnormal.

[0029] The test and inspection of the dual-drive control of the electric traction system based on the first verification result, the second verification result, the third verification result, and the fourth verification result in S6 is specifically as follows:

[0030] If the first, second, third and fourth verification results are all normal, the test performance of the dual-drive control of the electric traction system is qualified;

[0031] If one or two of the verification results are abnormal, the operating status of the electric traction system corresponding to the verification result is determined based on the abnormality, the control parameters of the electric traction system are adjusted, and re-calibration is performed until all verification results are normal and the test performance of the dual-drive control of the electric traction system is qualified;

[0032] If three or more verification results are abnormal, the test performance of the dual-drive control of the electric traction system fails, indicating that the electric traction system has a fault quality problem.

[0033] Beneficial effects: The present invention is a coal mining machine electric traction dual-drive control system and method. By setting two loading units to match and connect with the dual motors of the coal mining machine electric traction system, not only can synchronous control be achieved to perform power balance tests, but also different loads can be given to simulate the power imbalance state of the coal mining machine electric traction system in an uphill or downhill state to perform operating condition tests; at the same time, the electric traction dual-drive control system is used to perform a towing test with the electric traction system, and the motor speed, motor torque and power signal data are collected in real time, which can accurately reflect the operating status of the electric traction system under different working conditions, thereby verifying the dual-drive control performance of the electric traction system and improving the accuracy of quality inspection of the coal mining machine electric traction system. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is the structural diagram of the coal mining machine electric traction dual drive control test system. DETAILED DESCRIPTION

[0035] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0036] See also Figure 1 This embodiment provides a coal mining machine electric traction dual-drive control test system, comprising a control subsystem, an adjustable power subsystem, an adjustable load subsystem, a loading test bench, and a data monitoring component. The control subsystem is electrically connected to the adjustable power subsystem, the adjustable load subsystem, and the data monitoring component, respectively. The adjustable load subsystem and the data monitoring component are connected to the loading test bench.

[0037] Among them, the control subsystem is used to issue control instructions to control the drive output of the adjustable power subsystem and the adjustable load subsystem respectively, and obtain the test data of the loading test bench collected by the data monitoring component to perform dual-drive control stability detection of the electric traction system; the control subsystem includes an industrial control host and a PLC controller, the industrial control host is electrically connected to the PLC controller, and the output end of the PLC controller is respectively connected to the adjustable power subsystem and the adjustable load subsystem.

[0038] The adjustable power supply subsystem is used to electrically connect the coal mining machine's electric traction system, provide power to the electric traction system, and drive and adjust the electric traction system according to the control instructions of the control subsystem; the adjustable power supply subsystem includes a power supply switch device, a frequency converter and a voltage regulator, and the frequency converter is electrically connected to the power supply switch device and the voltage regulator respectively.

[0039] The adjustable load subsystem is used to receive control instructions from the control subsystem to generate driving power, and drive the operation of the control loading test bench; the adjustable load subsystem includes an isolation transformer, a phase-shifting transformer and an inverter rectifier.

[0040] The loading test bench is used to connect the electric traction system and generate load torque according to the driving power of the adjustable load subsystem to perform a towing test on the electric traction system; the loading test bench includes two loading units, each of which is composed of a wide-speed DC motor and a DC speed regulator electrically connected.

[0041] The data monitoring component is used to collect real-time motor speed, motor torque, and power signal data during the towing test between the loading test bench and the electric traction system. The data monitoring component includes a speed and torque sensor, an electric energy detection sensor, and a power meter.

[0042] The operating principle of this coal mining machine electric traction dual-drive control test system is as follows: the two AC asynchronous motors in the electric traction system are matched and connected to the wide-speed DC motor of the loading test bench. An adjustable power subsystem provides power to the electric traction system, driving the AC asynchronous motors. The adjustable load subsystem receives control commands from the control subsystem, generates drive power, and transmits it to the loading test bench for operational testing. This power drives the loading unit of the loading test bench to rotate and perform a towing test with the AC asynchronous motor of the electric traction system.

[0043] This embodiment also provides a coal mining machine electric traction dual drive control test method, which is applied to the above-mentioned coal mining machine electric traction dual drive control test system to perform performance testing on the dual drive control of the tested coal mining machine electric traction system. The specific steps of the method are as follows:

[0044] S1. Set the motor operating modes of the loading test bench and the electric traction system respectively; set the wide-speed DC motor of the loading test bench to the motor speed mode, and set the AC asynchronous motor of the electric traction system to the motor torque mode;

[0045] S2. The loading unit of the loading test bench outputs zero load torque to drive the dual motors of the electric traction system to perform a no-load test, simulating the unresistance traction operation of the electric traction system. The motor speed and inverter power data corresponding to the dual motors of the electric traction system are collected, and the data abnormality check of the unresistance traction operation is performed to determine the primary check result.

[0046] By setting the loading unit of the loading test bench to output zero load, the wide-speed DC motor of the loading unit rotates along with the electric traction system, that is, the loading unit does not output load torque to the electric traction system; the dual motors are driven and controlled by the adjustable power supply subsystem to be synchronously loaded to the same output torque; and the motor speed and inverter power data of the dual motors of the electric traction system in the no-load state are collected through the data monitoring component.

[0047] The control subsystem collects and uploads data based on the data monitoring component, performs data anomaly verification in the no-resistance traction operation state, and determines the primary verification result, specifically:

[0048] The motor speeds collected from the electric traction system's dual motors are subtracted from the inverter power data. If the motor speed difference falls within the speed error range, and the inverter power data difference is less than the power error threshold, the primary verification result is normal.

[0049] If the motor speed difference does not fall within the speed error range, or the difference in the inverter power data is greater than or equal to the power error threshold, the primary calibration result is abnormal.

[0050] S3. Drive the loading unit of the loading test bench to a preset speed of one, output a load torque based on the preset speed of one, and synchronously load the speeds of the dual motors of the electric traction system to the preset speed of one, simulating the resistance traction operation of the electric traction system. Collect motor torque and inverter power data of the electric traction system, perform an anomaly check on the data under the resistance traction operation, and determine the secondary check result.

[0051] The driving power is adjusted through the adjustable load subsystem to control the loading unit of the loading test bench to be loaded to the preset speed of one; at the same time, the speed of the dual motors of the electric traction system is increased through the adjustable power subsystem, so that the motor speed of the electric traction system reaches the preset speed of one. Based on the wide-speed DC motor of the loading test bench as the motor speed mode, in order to maintain the preset speed of one, the loading unit of the loading test bench outputs load torque to the electric traction system, simulating the resistance traction operation state of the electric traction system under the propulsion resistance during the traction process, and collecting the motor torque and inverter power data of the electric traction system in the current state through the data monitoring component.

[0052] The control subsystem collects the motor torque and inverter power data of the electric traction system, performs data anomaly verification for the resistance traction operation state, and determines the secondary verification results, specifically:

[0053] S3.1. Determine the motor torques of the dual motors in the electric traction system. If the difference between the motor torques of the two motors is less than the torque error threshold, proceed to S3.2. If the difference between the motor torques of the two motors is greater than or equal to the torque error threshold, the secondary verification result is abnormal.

[0054] S3.2. Based on the torque data of the dual motors of the electric traction system, the inverter power data is judged. If the difference in the inverter power data is less than the power error threshold, the secondary verification result is normal; if the difference in the inverter power data is greater than or equal to the power error threshold, the secondary verification result is abnormal.

[0055] S4: Based on the fact that the motor speeds of the dual motors of the electric traction system in S3 remain unchanged, the two loading units of the loading test bench are controlled to reduce their speeds and increase their output load torque, simulating the electric traction system's uphill traction operation. The motor torque and inverter power data of the electric traction system are collected, and data anomaly checks are performed on the uphill traction operation data, with the results of three checks being determined.

[0056] According to the resistance traction state simulated by the electric traction system in S3 under a stable state, the speed of the dual motors of the electric traction system is kept consistent, and the two loading units of the loading test bench are controlled separately by the adjustable load subsystem to decelerate respectively. The speeds of the wide-speed DC motors of the two loading units after deceleration are different, thereby outputting different load torques to the electric traction system, simulating the load imbalance situation, so that the dual motors of the electric traction system can output different torques at the same speed, simulating the inclined uphill traction operation state of the electric traction system.

[0057] The control subsystem performs data anomaly verification on the inclined uphill traction operation state based on the signal data of the electric traction system collected by the data monitoring component, and determines three verification results, specifically:

[0058] S4.1. Obtain a motor drive power value of a single motor according to the motor speed and motor torque of the single motor of the electric traction system; the motor drive power value is obtained by multiplying the motor speed and the motor torque.

[0059] S4.2. Determine a maximum driving power threshold value according to the acquired motor driving power value; the maximum driving power threshold value is the motor driving power value multiplied by a fixed proportional coefficient.

[0060] S4.3. Compare the inverter power data of a single motor with the corresponding maximum drive power threshold. If the inverter power data is less than the maximum drive power threshold, the three verification results are normal; if the inverter power data is greater than the maximum drive power threshold, the three verification results are abnormal.

[0061] S5. Based on S3, the motor speeds of the dual motors of the electric traction system remain unchanged. The two loading units of the loading test bench are controlled to respectively increase and reduce the output load torque based on a preset speed, simulating the electric traction system's inclined downhill traction operation state. The motor torque and inverter power data of the electric traction system are collected. The data of the inclined downhill traction operation state is checked for abnormalities, and the results of the four checks are determined.

[0062] The data abnormality check of the inclined downhill traction operation state and the determination of the four check results are the same as the principle of the step in S4, which will not be described in detail here.

[0063] S6. Based on the primary, secondary, tertiary, and fourth verification results, a test is performed on the dual-drive control of the electric traction system. The specific operations are as follows:

[0064] If the first, second, third and fourth verification results are all normal, the test performance of the dual-drive control of the electric traction system is qualified;

[0065] If one or two of the verification results are abnormal, the operating status of the electric traction system corresponding to the verification result is determined based on the abnormality, the control parameters of the electric traction system are adjusted, and re-calibration is performed until all verification results are normal and the test performance of the dual-drive control of the electric traction system is qualified;

[0066] If three or more verification results are abnormal, the test performance of the dual-drive control of the electric traction system fails, indicating that the electric traction system has a fault quality problem.

Claims

1. A coal mining machine electric traction dual drive control test system, characterized in that: It includes a control subsystem, an adjustable power subsystem, an adjustable load subsystem, a loading test bench and a data monitoring component; the control subsystem is electrically connected to the adjustable power subsystem, the adjustable load subsystem and the data monitoring component respectively, and the adjustable load subsystem and the data monitoring component are connected to the loading test bench; The control subsystem is used to issue control instructions to control the drive outputs of the adjustable power subsystem and the adjustable load subsystem respectively, and obtain test data from the loading test bench collected by the data monitoring component to perform dual-drive control stability testing of the electric traction system; The adjustable power supply subsystem is used to electrically connect the electric traction system of the coal mining machine, provide power to the electric traction system, and adjust the drive of the electric traction system according to the control instructions of the control subsystem; The adjustable load subsystem is used to receive control instructions from the control subsystem to generate driving power and drive the operation of the control loading test bench; The loading test bench is used to connect the electric traction system and generate load torque according to the driving power of the adjustable load subsystem to conduct towing tests on the electric traction system; The data monitoring component is used to collect real-time motor speed, motor torque, and power signal data during the towing test between the loading test bench and the electric traction system.

2. The coal mining machine electric traction dual drive control test system according to claim 1 is characterized in that: The adjustable power supply subsystem includes a power supply switch device, a frequency converter and a voltage regulator, and the frequency converter is electrically connected to the power supply switch device and the voltage regulator respectively.

3. The coal mining machine electric traction dual drive control test system according to claim 1 is characterized in that: The adjustable load subsystem includes an isolation transformer, a phase-shifting transformer and an inverter rectifier.

4. The coal mining machine electric traction dual drive control test system according to claim 1 is characterized in that: The loading test bench includes two loading units, each of which is composed of a wide-speed DC motor and a DC speed regulator electrically connected.

5. The coal mining machine electric traction dual drive control test system according to claim 1 is characterized in that: The data monitoring component includes a speed and torque sensor, an electric energy detection sensor and a power meter.

6. A coal mining machine electric traction dual drive control test method, applied to the coal mining machine electric traction dual drive control test system according to any one of claims 1 to 5, characterized in that: The method comprises: S1. Set the motor operating modes of the loading test bench and the electric traction system respectively; set the wide-speed DC motor of the loading test bench to the motor speed mode, and set the AC asynchronous motor of the electric traction system to the motor torque mode; S2. The loading unit of the loading test bench outputs zero load torque to drive the dual motors of the electric traction system to perform a no-load test, simulating the unresistance traction operation of the electric traction system. The motor speed and inverter power data corresponding to the dual motors of the electric traction system are collected, and the data abnormality check of the unresistance traction operation is performed to determine the primary check result. S3. Drive the loading unit of the loading test bench to a preset speed of one, output a load torque based on the preset speed of one, and synchronously load the speeds of the dual motors of the electric traction system to the preset speed of one, simulating the resistance traction operation of the electric traction system. Collect motor torque and inverter power data of the electric traction system, perform an anomaly check on the data under the resistance traction operation, and determine the secondary check result. S4: Based on the fact that the motor speeds of the dual motors of the electric traction system in S3 remain unchanged, the two loading units of the loading test bench are controlled to reduce their speeds and increase their output load torque, simulating the electric traction system's uphill traction operation. The motor torque and inverter power data of the electric traction system are collected, and data anomaly checks are performed on the uphill traction operation data, with the results of three checks being determined. S5. Based on S3, the motor speeds of the dual motors of the electric traction system remain unchanged. The two loading units of the loading test bench are controlled to respectively increase and reduce the output load torque based on a preset speed, simulating the electric traction system's inclined downhill traction operation state. The motor torque and inverter power data of the electric traction system are collected. The data of the inclined downhill traction operation state is checked for abnormalities, and the results of the four checks are determined. S6. Perform test inspection of the dual drive control of the electric traction system based on the first verification result, the second verification result, the third verification result, and the fourth verification result.

7. The coal mining machine electric traction dual drive control test method according to claim 6, characterized in that: S3 collects the motor torque and inverter power data of the electric traction system, performs data abnormality check for the resistance traction operation state, and determines the secondary check result, specifically: S3.

1. Determine the motor torques of the dual motors in the electric traction system. If the difference between the motor torques of the two motors is less than the torque error threshold, proceed to S3.

2. If the difference between the motor torques of the two motors is greater than or equal to the torque error threshold, the secondary verification result is abnormal. S3.

2. Based on the torque data of the dual motors of the electric traction system, the inverter power data is judged. If the difference in the inverter power data is less than the power error threshold, the secondary verification result is normal; if the difference in the inverter power data is greater than or equal to the power error threshold, the secondary verification result is abnormal.

8. The coal mining machine electric traction dual drive control test method according to claim 6, characterized in that: The rotational speeds of the wide-speed DC motors of the two loading units after deceleration in S4 are different.

9. The coal mining machine electric traction dual drive control test method according to claim 8, characterized in that: S4 collects the motor torque and inverter power data of the electric traction system, performs data abnormality verification for the inclined uphill traction operation state, and determines three verification results, specifically: S4.

1. Obtain a motor drive power value of a single motor according to the motor speed and motor torque of the single motor of the electric traction system; the motor drive power value is obtained by multiplying the motor speed and the motor torque. S4.

2. Determine a maximum driving power threshold value according to the acquired motor driving power value; the maximum driving power threshold value is the motor driving power value multiplied by a fixed proportional coefficient. S4.

3. Compare the inverter power data of a single motor with the corresponding maximum drive power threshold. If the inverter power data is less than the maximum drive power threshold, the three verification results are normal; if the inverter power data is greater than the maximum drive power threshold, the three verification results are abnormal.

10. The coal mining machine electric traction dual drive control test method according to claim 6, characterized in that: The test and inspection of the dual-drive control of the electric traction system based on the first verification result, the second verification result, the third verification result, and the fourth verification result in S6 is specifically as follows: If the first, second, third and fourth verification results are all normal, the test performance of the dual-drive control of the electric traction system is qualified; If one or two of the verification results are abnormal, the operating status of the electric traction system corresponding to the verification result is determined based on the abnormality, the control parameters of the electric traction system are adjusted, and re-calibration is performed until all verification results are normal and the test performance of the dual-drive control of the electric traction system is qualified; If three or more verification results are abnormal, the test performance of the dual-drive control of the electric traction system fails, indicating that the electric traction system has a fault quality problem.

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