Control method of electric double-motor hauling mining car in underground mines

Abstract

The present invention discloses a control method for an electric twin-engine traction mine car in an underground mine, which belongs to the technical field of twin-engine traction electric locomotives. The method includes a vehicle driving direction control module and a loading area control module. When the vehicle is driving in the loading direction and the head car is slowing down to enter a curve or a certain distance before the switch, the system starts a vehicle distance detection device to measure the actual distance between the head and tail vehicles. In the loading area control module, before the vehicle runs to the loading area, the distance for entering the inching operation mode in advance is determined according to the current vehicle running speed. The present invention controls the vehicle by differentially controlling the vehicle with the head car, ensuring that the soft connection between the mine and the vehicle is always in a stretched state. Different from the traditional electric locomotive control method, this technology realizes the precise control of the connection state between the mine and the vehicle, effectively preventing transportation accidents caused by loose or over-tensioned connections between the mine and the vehicle, and significantly improving the reliability and safety of the vehicle transportation.

Description

Technical Field

[0001] The present invention belongs to the technical field of twin-engine traction vehicles, and in particular relates to a control method for an electric twin-engine traction mining vehicle in an underground mine. Background Art

[0002] In the mine rail transportation process, electric locomotives are the main transportation equipment. In the traction mode of a double-machine traction electric locomotive composed of the head and tail heads, the connection mode of the mine car end can be divided into a rigid close-connected coupler (Jam-type coupler, etc.) or a soft ring chain connection (three-ring chain, two-ring chain, etc.). At present, some mines have decided to use a soft connection mode of ring chain for the car end connection due to environmental factors such as the small on-site operation radius. The soft connection mode of ring chain connection is prone to derailment or collision accidents when the vehicle goes up and downhill, turns, and increases and decreases speed. When loading ore below the chute, the mine car is prone to slipping when it is aligned with the ore discharge device, and multiple alignments or increased manual intervention are required to align it, resulting in low production efficiency. The current main methods used are dual-machine manual operation mode or dual-machine synchronous operation mode. Dual-machine manual operation mode:

[0003] 1. When running on the line, the locomotive pulls the mine car in one direction or pushes the mine car in one direction.

[0004] 2. When unloading ore, a driver operates the car head and an operator unloads the ore. When the mine car is aligned, the two cooperate with each other. The driver stops the car and the operator uses metal bars to clamp the wheels of the mine car to ensure that the mine car is aligned with the ore bucket to prevent the car from slipping.

[0005] Dual locomotive synchronous operation mode: The control instructions of the leading and trailing locomotives are the same, and the speeds are synchronized. Multiple repetitive alignments are required to accurately align the mine cars with the ore-feeding device. In the dual locomotive synchronous control mode, local or remote control, when running on the line, due to the same control speeds at the front and rear locomotives, the front locomotive pulls while the rear locomotive pushes. The rear locomotive pushes, which can easily cause the mine cars to derail at bends and switches. During ore loading, the mine cars between the locomotives are prone to slipping due to the connection gap between the locomotives. That is, the locomotives stop while the mine cars are still moving, resulting in inaccurate alignment. Manual assistance is required to control the alignment of the mine cars. Therefore, a control method for underground electric dual locomotives to haul mine cars is proposed. Summary of the Invention

[0006] The object of the present invention is to provide a control method for an underground electric dual-motor traction mining vehicle to solve the problems raised in the above background technology.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: including a marshalling vehicle driving direction control module and a loading area control module, the marshalling vehicle driving direction control module includes loading direction driving control and unloading direction driving control, the loading area control module includes inching operation model switching and precise positioning parking and loading control, the marshalling vehicle driving direction control module is when the marshalling vehicle is traveling in the loading direction, when the head vehicle slows down to enter the curve and a certain distance before the switch, the system starts the vehicle distance detection device to measure the actual distance between the head and tail vehicles, and the loading area control module determines the distance to enter the inching operation mode in advance according to the current marshalling operation speed before the marshalling vehicle runs to the loading area;

[0008] As a further preferred embodiment of the present technical solution: the distance detection device in the vehicle driving direction control module adopts a high-precision laser rangefinder or an ultrasonic rangefinder sensor, which is installed on the head car and the tail car to measure the distance between the two in real time. If the detected distance is less than the full-stretch state value of the marshaling, the industrial controller immediately adjusts the frequency setting value of the tail car inverter to make it 1Hz lower than the head car, so that the speed of the tail car is slightly lower than the speed of the head car. As the vehicle continues to travel, when the distance between the head and tail cars gradually approaches the full-stretch state value of the marshaling, the industrial controller controls the head and tail car inverters to restore the speed of the two to be consistent. When the marshaling car is traveling in the unloading direction, the car distance detection is also started when the tail car slows down to enter a curve or a certain distance before the switch. If the distance is less than the set value, the speed of the head car is adjusted to be slightly lower than the tail car. When the distance approaches the full-stretch state value of the marshaling, the speeds of the two cars are restored to be consistent.

[0009] As a further preferred embodiment of the present technical solution: the industrial controller in the loading area control module controls the locomotive frequency converter to switch to the inching operation mode and sets a suitable inching speed. In the inching operation mode, the head and tail cars maintain a certain speed difference, eliminating the uncontrollable gap between the cars, so that the marshaling car is in a fully stretched state. When a stop command is received, the car can stop quickly and accurately because the marshaling car is in a stretched state and the speed difference is controllable.

[0010] As a further preferred embodiment of the present technical solution: the loading direction driving control sets a trigger distance for the head car to slow down in advance of the key position of the track curve or switch when the marshaling vehicle is traveling in the loading direction. The trigger distance can be reasonably set according to the actual track curvature and vehicle running speed factors, and is set at a position 10 to 20 meters away from the curve or switch entrance. When the head car reaches the trigger distance, the vehicle distance detection device installed on the vehicle is automatically started, and the actual distance between the head and tail cars is measured in real time at a frequency of 10 to 20 times per second through a high-precision laser rangefinder. The industrial controller receives the distance measurement data in real time and compares it with the preset full-stretch state value of the marshaling. If the detected distance is less than the value, the industrial controller quickly adjusts the frequency setting value of the tail car inverter to make it 1 Hz lower than that of the head car. While the vehicle continues to travel, the industrial controller continuously monitors the distance between the head and tail cars at a frequency of 5 to 10 times per second. When the distance gradually approaches the full-stretch state value of the marshaling, the head and tail car inverters are controlled according to the preset speed recovery algorithm to smoothly restore the speed of the two within 3 to 5 seconds.

[0011] As a further preferred embodiment of the present technical solution, when the marshaling vehicle is traveling in the unloading direction, the trigger distance for the tail vehicle to slow down and enter the curve or switch is also pre-set, and is set at a position 10 to 20 meters away from the curve or switch entrance. When the tail vehicle reaches this distance, the vehicle distance detection device is activated, and the subsequent operation process is similar to that when traveling in the loading direction. By adjusting the speed of the head vehicle to be slightly lower than that of the tail vehicle, the distance between the head and tail vehicles can be accurately controlled.

[0012] As a further preferred embodiment of the present technical solution: when the inching operation mode is switched before the train runs to the loading area, the distance for entering the inching operation mode in advance is determined according to the current train running speed. The industrial controller controls the locomotive inverter to switch to the inching operation mode at this distance, and sets a suitable inching speed according to actual needs. The inching speed is generally set to 0.5 to 2 km / h.

[0013] As a further preferred embodiment of the present technical solution: when the vehicle is aligned with the ore-discharging device, the system issues a stop command. Since the marshaling vehicle is already in a stretched state in the inching operation mode and the speed difference is controllable, it can stop quickly and accurately to ensure the precise alignment of the mine car and the ore-discharging device. The alignment accuracy can be controlled within ±10 cm. During the loading process, the industrial controller continuously controls the head and tail cars to maintain the set speed difference, dynamically adjusts the frequency set value of the inverter, and ensures that the marshaling is always in a fully stretched state.

[0014] As a further preferred embodiment of the present technical solution: it also includes a control system and control implementation under multiple driving modes, the control system includes an industrial controller, a frequency converter and a sensor for detecting the distance between the head and tail vehicles. The industrial controller serves as the central processing unit of the entire control system and is responsible for receiving the head and tail vehicle distance signal detected by the sensor, analyzing and judging it according to a preset control logic, and sending corresponding control instructions to the frequency converter. The frequency converter accurately adjusts the operating speed of the head and tail locomotives according to the received instructions. The vehicle distance sensor monitors the distance between the head and tail vehicles in real time and feeds back the data to the industrial controller.

[0015] As a further preferred embodiment of the present technical solution: the control implementation in the multiple driving modes includes a manual master-slave driving mode and a remote control automatic mode. In the manual master-slave driving mode, the driver is located in the cab of the lead vehicle and sends instructions to the industrial controller through the control device on the driving platform, including speed setting, direction control and other operations. The industrial controller adjusts the speed of the lead and tail locomotives in real time according to the preset control logic based on the driver's instructions and the real-time monitored vehicle status information. The cab is equipped with a high-definition display screen to display the vehicle's operating status in real time, such as the distance between the lead and tail vehicles, speed, load and other information, so that the driver can manually intervene when necessary.

[0016] As a further preferred embodiment of the present technical solution: the remote control automatic mode remote control center sends instructions to the industrial controller through wireless communication technology to realize remote automated control of the train set; the remote control center is equipped with a large monitoring screen to display the running status of the vehicle, track conditions and surrounding environment information in real time; the operator performs remote operations based on this information; the system automatically performs corresponding control operations based on the received instructions and the real-time monitored vehicle status information.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention ensures that the soft connection between the mine and the workshop is always in a stretched state through the differential speed control of the lead locomotive. Different from the traditional electric locomotive marshaling control method, this technology realizes the precise regulation of the connection state between the mine and the workshop, effectively preventing transportation accidents caused by loose or over-tensioned connections between the mine and the workshop, and significantly improving the reliability and safety of marshaling transportation.

[0019] 2. In the ore loading alignment link, the system of the present invention uses differential control marshaling technology to dynamically adjust the speed of the head and tail locomotives according to the relative position of the mine car and the charging hopper, so as to achieve precise alignment of the mine car position with the charging hopper. The alignment accuracy can reach the centimeter level, effectively avoiding problems such as insufficient loading and ore spillage caused by mine car position deviation, thereby improving the loading efficiency and quality.

[0020] When the system of the present invention is running on a curve, it accurately adjusts the traction and thrust output of the head and tail locomotives through a differential control algorithm according to the curvature of the curve and the real-time speed of the vehicle, ensuring that the train set runs smoothly on the curve, eliminating the risk of locomotive derailment caused by the mismatch between the traction force of the head locomotive and the thrust of the tail locomotive, and ensuring the continuity and safety of the transportation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The process of the control method of the electric double-motor traction mine car in the mine of the present invention Figure 1 ;

[0022] Figure 2 The process of the control method of the electric double-motor traction mine car in the mine of the present invention Figure 2 . DETAILED DESCRIPTION

[0023] The method of the present invention is described in detail below with reference to the accompanying drawings.

[0024] Example:

[0025] See also Figure 1-Figure 2 As shown, the present invention provides a technical solution: including a marshalling vehicle driving direction control module and a loading area control module, the marshalling vehicle driving direction control module includes loading direction driving control and unloading direction driving control, the loading area control module includes inching operation model switching and precise positioning parking and loading control, the marshalling vehicle driving direction control module is when the marshalling vehicle is traveling in the loading direction, when the head vehicle slows down to enter the curve and a certain distance before the switch, the system starts the vehicle distance detection device to measure the actual distance between the head and tail vehicles, and in the loading area control module, when the marshalling vehicle runs to the loading area, the distance to enter the inching operation mode in advance is determined according to the current marshalling operation speed;

[0026] In this embodiment, specifically: the distance detection device in the vehicle driving direction control module adopts a high-precision laser rangefinder or an ultrasonic rangefinder sensor, which is installed on the head car and the tail car to measure the distance between the two in real time. If the detected distance is less than the full-stretch state value of the marshaling, the industrial controller immediately adjusts the frequency setting value of the tail car inverter to make it 1Hz lower than that of the head car, so that the speed of the tail car is slightly lower than that of the head car. As the vehicle continues to travel, when the distance between the head and tail cars gradually approaches the full-stretch state value of the marshaling, the industrial controller controls the head and tail car inverters to restore the speed of the two to be consistent. When the marshaling vehicle is traveling in the unloading direction, the car distance detection is also started when the tail car slows down to enter the curve or a certain distance before the switch. If the distance is less than the set value, the speed of the head car is adjusted to be slightly lower than that of the tail car. When the distance approaches the full-stretch state value of the marshaling, the speed of the two cars is restored to be consistent. In this way, it is ensured that when the marshaling vehicle is running on the line, the mine cars in the head and tail locomotives are always in a stretched state, effectively preventing the electric locomotive from pushing the mine car from behind and causing derailment, and ensuring that the current of the head and tail locomotives runs smoothly within the normal range.

[0027] In this embodiment, specifically: the industrial controller controls the locomotive frequency converter to switch to the inching operation mode and sets a suitable inching speed. In the inching operation mode, the head and tail cars maintain a certain speed difference, eliminating the uncontrollable gap between the cars, so that the marshaling car is in a fully stretched state. When a stop command is received, since the marshaling is in a stretched state and the speed difference is controllable, it can stop quickly and accurately. During the ore loading process, the speed difference between the head and tail cars is continuously maintained to ensure that the marshaling is always in a fully stretched state, preventing the cars from slipping, and significantly improving the ore loading efficiency.

[0028] In this embodiment, specifically: When the train is traveling in the loading direction, a trigger distance for the head train to slow down is set in advance in front of key positions such as the bend and switch of the track. The trigger distance can be reasonably set according to factors such as the actual track curvature and the vehicle running speed, and is set at a position 10 to 20 meters away from the entrance of the bend or switch. When the head train reaches the trigger distance, the vehicle distance detection device installed on the vehicle automatically starts, and measures the actual distance between the head and tail vehicles in real time at a frequency of 10 to 20 times per second through a high-precision laser rangefinder. The industrial controller receives the distance measurement data in real time and compares it with the preset full-stretch state value of the train. If the detected distance is less than The industrial controller quickly adjusts the frequency setting value of the inverter of the tail car to make it 1Hz lower than that of the leading car. If the frequency setting value of the inverter of the leading car is 50Hz, the frequency setting value of the inverter of the tail car is adjusted to 49Hz to achieve the purpose of making the speed of the tail car slightly lower than that of the leading car. During the continuous driving of the vehicle, the industrial controller continuously monitors the distance between the leading and trailing cars at a frequency of 5 to 10 times per second. When the distance gradually approaches the value of the full stretch state of the group, the inverters of the leading and trailing cars are controlled according to the preset speed recovery algorithm to make the speeds of the two cars smoothly restored to the same within 3 to 5 seconds. The speed recovery algorithm can use linear interpolation to increase the speed of the leading car by 0.2 to 0.5Hz per second until it is equal to the speed of the trailing car.

[0029] In this embodiment, specifically: when the marshaling vehicle is traveling in the unloading direction, the trigger distance before the tail vehicle slows down to enter the curve or switch is also pre-set, and is set at a position 10 to 20 meters away from the curve or switch entrance. When the tail vehicle reaches this distance, the vehicle distance detection device is started, and the subsequent operation process is similar to that when traveling in the loading direction. By adjusting the speed of the leading vehicle to be slightly lower than that of the trailing vehicle, precise control of the distance between the leading and trailing vehicles is achieved. If the frequency setting value of the inverter of the trailing vehicle is 45Hz, when it is detected that the distance between the leading and trailing vehicles is less than the value of the fully stretched state of the marshaling, the frequency setting value of the inverter of the leading vehicle is adjusted to 44Hz. When the distance is close to the value of the fully stretched state of the marshaling, the speed recovery algorithm is used to gradually increase the speed of the leading vehicle to 45Hz, consistent with the speed of the trailing vehicle.

[0030] In this embodiment, specifically: before the marshaling runs to the loading area, the distance for entering the inching mode in advance is determined according to the current marshaling running speed. If the marshaling running speed is 8 km / h, the inching mode can be entered 5 to 10 meters in advance. The industrial controller controls the locomotive inverter to switch to the inching mode at this distance and sets the appropriate inching speed according to actual needs. The inching speed is generally set to 0.5 to 2 km / h.

[0031] In this embodiment, specifically: precise positioning parking and loading control: when the vehicle is aligned with the ore-discharging device, the system issues a parking command. Since the marshaled vehicle is already in a stretched state in the inching operation mode and the speed difference is controllable, it can stop quickly and accurately to ensure the precise alignment of the mine car and the ore-discharging device. The alignment accuracy can be controlled within ±10 cm. During the loading process, the industrial controller continuously controls the head and tail cars to maintain the set speed difference. By real-time monitoring of the vehicle load changes and the distance between the vehicles, the weighing sensor installed on the vehicle can be used to dynamically adjust the frequency setting value of the inverter to ensure that the marshaling is always in a fully stretched state. When it is detected that the vehicle load increases and the distance between the vehicles has a tendency to decrease, the speed of the head car is appropriately increased or the speed of the tail car is reduced to keep the distance between the vehicles within the fully stretched state value range, thereby improving the safety and efficiency of the loading operation, achieving precise alignment of each mine car, and thus improving the quality and output of the entire loading process;

[0032] In this embodiment, specifically: it also includes a control system and control implementation under multiple driving modes. The control system includes an industrial controller, a frequency converter and a sensor for detecting the distance between the head and tail vehicles. The industrial controller serves as the central processing unit of the entire control system and is responsible for receiving the head and tail vehicle distance signal detected by the sensor, analyzing and judging according to the preset control logic, and sending corresponding control instructions to the frequency converter. The frequency converter accurately adjusts the running speed of the head and tail locomotives according to the received instructions. The vehicle distance sensor monitors the distance between the head and tail vehicles in real time and feeds back the data to the industrial controller. The industrial controller can adopt a high-performance, high-reliability embedded processor with powerful data processing and real-time control capabilities; the frequency converter uses a high-precision, high-response speed vector control frequency converter, which can realize precise speed regulation of the electric locomotive traction motor; the vehicle distance sensor should have high measurement accuracy, high stability and good anti-interference performance to ensure that the head and tail vehicle distance can be accurately measured in a complex mining environment;

[0033] In this embodiment, specifically: the control implementation in multiple driving modes includes a manual master-slave driving mode and a remote control automatic mode. In the manual master-slave driving mode, the driver is located in the cab of the lead vehicle and sends instructions to the industrial controller through the control device on the driving platform, including speed setting, direction control and other operations. The industrial controller adjusts the speed of the lead and tail vehicles in real time according to the preset control logic based on the driver's instructions and the real-time monitored vehicle status information. The cab is equipped with a high-definition display screen to display the vehicle's operating status in real time, such as the distance between the lead and tail vehicles, speed, load and other information, so that the driver can manually intervene when necessary. When the driver finds an obstacle on the track ahead, he can manually apply emergency braking. At the same time, the system will automatically adjust the speed of the tail vehicle according to the distance between the vehicles to prevent rear-end collisions.

[0034] In this embodiment, specifically: in the remote control automatic mode, the remote control center sends instructions to the industrial controller through wireless communication technology to realize remote automated control of the train. The remote control center is equipped with a large monitoring screen to display the vehicle's operating status, track conditions and surrounding environment information in real time. The operator can perform remote operations based on this information. The system automatically performs corresponding control operations based on the received instructions and the real-time monitored vehicle status information. In the remote control automatic mode, the system can automatically control the start, acceleration, deceleration, and parking of the train according to the pre-set operating route and schedule, and automatically adjust the speed of the head and tail vehicles according to the distance between the vehicles to ensure that the train runs safely and efficiently according to the predetermined plan.

Claims

1. A control method for an underground electric dual-motor traction mine car, characterized by: It includes a marshaling vehicle driving direction control module and a loading area control module. The marshaling vehicle driving direction control module includes loading direction driving control and unloading direction driving control. The loading area control module includes inching operation mode switching and precise positioning parking and loading control. When the marshaling vehicle is traveling in the loading direction, the marshaling vehicle driving direction control module starts the vehicle distance detection device when the head vehicle slows down to enter the curve and a certain distance before the switch, and measures the actual distance between the head and tail vehicles. In the loading area control module, when the marshaling vehicle runs to the loading area, the distance to enter the inching operation mode in advance is determined according to the current marshaling operation speed; The distance detection device in the vehicle group driving direction control module adopts a high-precision laser rangefinder or an ultrasonic rangefinder sensor, which is installed on the head car and the tail car to measure the distance between the two in real time. If the detected distance is less than the full-stretch state value of the group, the industrial controller immediately adjusts the frequency setting value of the tail car inverter to make it 1Hz lower than that of the head car, so that the speed of the tail car is slightly lower than that of the head car. As the vehicle continues to travel, when the distance between the head and tail cars gradually approaches the full-stretch state value of the group, the industrial controller controls the head and tail car inverters to restore the speed of the two cars to the same level. When the group car is traveling in the unloading direction, the tail car decelerates to enter a curve or a certain distance before the switch, and the car distance detection is also started. If the distance is less than the set value, the speed of the head car is adjusted to be slightly lower than the tail car. When the distance approaches the full-stretch state value of the group, the speeds of the two cars are restored to be consistent. The industrial controller in the loading area control module controls the locomotive inverter to switch to the inching operation mode and sets the appropriate inching speed. In the inching operation mode, the head and tail cars maintain a certain speed difference, eliminating the uncontrollable gap between the cars, so that the train set is in a fully stretched state. When a stop command is received, the train can stop quickly and accurately because the train set is in a stretched state and the speed difference is controllable.

2. The control method for an underground electric dual-motor traction mine car according to claim 1, characterized in that: The loading direction driving control sets a trigger distance for the head car to slow down in advance before the key position of the track bend or switch when the train is traveling in the loading direction. The trigger distance can be reasonably set according to the actual track curvature and vehicle running speed factors, and is set at a position 10 to 20 meters away from the curve or switch entrance. When the head car reaches the trigger distance, the vehicle distance detection device installed on the vehicle is automatically started, and the actual distance between the head and tail cars is measured in real time at a frequency of 10 to 20 times per second through a high-precision laser rangefinder. The industrial controller receives the distance measurement data in real time and compares it with the preset full-stretch state value of the group. If the detected distance is less than the value, the industrial controller quickly adjusts the frequency setting value of the tail car inverter to make it 1 Hz lower than that of the head car. While the vehicle continues to travel, the industrial controller continuously monitors the distance between the head and tail cars at a frequency of 5 to 10 times per second. When the distance gradually approaches the full-stretch state value of the group, the preset speed recovery algorithm is used to control the inverters of the head and tail cars so that the speeds of the two are smoothly restored to consistency within 3 to 5 seconds.

3. The control method for an underground electric dual-motor traction mine car according to claim 2, characterized in that: When the train is traveling in the unloading direction, the trigger distance for the tail car to slow down and enter the curve or switch is also pre-set, and is set at a distance of 10 to 20 meters from the entrance of the curve or switch. When the tail car reaches this distance, the vehicle distance detection device is activated, and the subsequent operation process is similar to that when traveling in the loading direction. By adjusting the speed of the head car to be slightly lower than that of the tail car, the distance between the head and tail vehicles can be accurately controlled.

4. The control method for an underground electric dual-motor traction mine car according to claim 3, characterized in that: The inching operation mode is switched before the marshaling runs to the loading area. The distance for entering the inching operation mode in advance is determined according to the current marshaling running speed. The industrial controller controls the locomotive inverter to switch to the inching operation mode at this distance and sets the appropriate inching speed according to actual needs. The inching speed is set to 0.5~2km / h.

5. The control method for an underground electric dual-motor traction mine car according to claim 4, characterized in that: The precise alignment parking and loading control issues a parking command when the vehicle is aligned with the ore-discharging device. Since the marshaled vehicle is already in a stretched state in the inching operation mode and the speed difference is controllable, it can stop quickly and accurately to ensure the precise alignment of the mine car and the ore-discharging device. The alignment accuracy is controlled within ±10 cm. During the loading process, the industrial controller continuously controls the head and tail cars to maintain the set speed difference, dynamically adjusts the inverter frequency set value, and ensures that the marshaling is always in a fully stretched state.

6. The control method for an underground electric dual-motor traction mine car according to claim 5, characterized in that: It also includes a control system and control implementation under multiple driving modes. The control system includes an industrial controller, a frequency converter and a sensor for detecting the distance between the head and tail vehicles. The industrial controller serves as the central processing unit of the entire control system and is responsible for receiving the head and tail vehicle distance signals detected by the sensor, analyzing and judging according to the preset control logic, and sending corresponding control instructions to the frequency converter. The frequency converter accurately adjusts the operating speed of the head and tail locomotives according to the received instructions. The vehicle distance sensor monitors the distance between the head and tail vehicles in real time and feeds back the data to the industrial controller.

7. The control method for an underground electric dual-motor traction mine car according to claim 6, characterized in that: The control implementation under the multiple driving modes includes manual master-slave driving mode and remote control automatic mode. In the manual master-slave driving mode, the driver is located in the cab of the leading vehicle and sends instructions to the industrial controller through the control device on the driving platform, including speed setting and direction control operations. The industrial controller adjusts the speed of the leading and trailing locomotives in real time according to the preset control logic based on the driver's instructions and the real-time monitored vehicle status information. The cab is equipped with a high-definition display screen to display the vehicle's operating status in real time to facilitate manual intervention by the driver.

8. The control method for an underground electric dual-motor traction mine car according to claim 7, characterized in that: The remote control automatic mode remote control center sends instructions to the industrial controller through wireless communication technology to realize remote automated control of the train. The remote control center is equipped with a large monitoring screen to display the vehicle's operating status, track conditions and surrounding environment information in real time. The operator performs remote operations based on this information. The system automatically performs corresponding control operations based on the received instructions and the real-time monitored vehicle status information.

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