Tunneling equipment locked-rotor prevention control system and method based on dynamic flow threshold value and multi-stage linkage

Abstract

The invention discloses an anti-locked-rotor control system and method for tunneling equipment based on a dynamic flow threshold value and multi-stage linkage, relates to the technical field of mining machinery automation control, and solves the technical problem of improving locked-rotor prevention and disposal collaboration through multi-stage linkage control. On the basis of the coal rock hardness parameter library and the real-time flow change rate, the correlation between the hardness and the reference flow is fitted through the piecewise function, the real-time coal rock hardness is reversely deduced in combination with the deviation rate, the correction coefficient and the alarm threshold value are dynamically adjusted, the complex working conditions of shale, sandstone and transition lithology can be precisely adapted, and the real-time flow change rate is obtained. A correlation model of star wheel flow and first-conveying / second-conveying speed is established, real-time matching of the conveying speed and material input is achieved through PID dynamic adjustment, meanwhile, first-conveying / second-conveying speed reduction is synchronously triggered when star wheel second-level alarming is conducted, a star wheel-conveyor collaborative anti-locked-rotor mechanism is formed, the material accumulation rate is reduced, and through graded alarming and acousto-optic prompting, the anti-locked-rotor performance of the conveyor is improved. The manual intervention threshold is reduced.

Description

Technical Field

[0001] This invention relates to the field of automated control technology for mining machinery, specifically to a control system and method for preventing stalling of tunneling equipment based on dynamic flow thresholds and multi-level linkage. Background Technology

[0002] In underground tunneling operations, tunneling equipment often stalls due to sudden changes in the hardness of coal and rock, material accumulation, or blockage. This can lead to work interruptions or, in severe cases, serious consequences such as motor overload and burnout, and damage to mechanical parts.

[0003] Traditional tunneling equipment often experiences blockages in its star wheel, primary haulage, and secondary haulage systems during operation due to sudden changes in coal and rock hardness or material accumulation. Existing technologies suffer from the following drawbacks: Relying on manual observation or a single static threshold judgment, it cannot dynamically adapt to changes in coal and rock hardness. It only relieves the blockage by reversing the flow, lacks a circulation strategy and recovery condition judgment. The correlation between coal and rock hardness and flow rate is not quantified. The correction coefficient is fixed and cannot dynamically adjust the alarm threshold according to real-time operating conditions. It only relies on a single fault code to determine the cause, without combining sensor data with actual phenomena for cross-verification, resulting in inaccurate fault location. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a control system and method for preventing stalling in tunneling equipment based on dynamic flow thresholds and multi-level linkage, which solves the problem of improving the coordination of stall prevention and handling through multi-level linkage control.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a tunneling equipment anti-blocking control system based on dynamic flow threshold and multi-level linkage, comprising: The dynamic threshold determination module is used to fit the correlation between coal and rock hardness parameters and the baseline flow rate based on the HMI's preset coal and rock hardness parameter library. At the same time, it calculates the deviation rate of the real-time flow rate, and combines the deviation rate to back-calculate the real-time coal and rock hardness. It also determines the correction coefficient and calculates the dynamic alarm threshold, and transmits it to the early warning comparison and analysis module. The early warning comparison and analysis module is used to generate first-level or second-level alarm signals based on the relationship between real-time flow and dynamic alarm thresholds, and process them to generate first-level or second-level alarm processing information and linkage control signals. The second-level alarm processing information is continuously monitored for anomalies to generate fault analysis signals, which are then transmitted to the comprehensive processing and analysis module. The linkage control signals are analyzed, a correlation model is established, and the running speed is calculated based on the relationship between the real-time flow of the star wheel and the reference flow. PID dynamic adjustment is performed to generate a dynamic adjustment speed, which is then transmitted to the control information output module. The control information output module is used to display the obtained dynamic adjustment speed to the corresponding management personnel.

[0006] As a further embodiment of the present invention, it also includes a sensor data acquisition module and a comprehensive processing and analysis module; The sensor data acquisition module is used to collect the flow rate of the star wheel drive hydraulic oil in real time through a mine explosion-proof flow sensor, collect the oil circuit pressure in real time through a pressure sensor, monitor the star wheel speed in real time through a speed sensor, and transmit the acquired sensor data to the dynamic threshold determination module. The integrated processing and analysis module is used to process fault analysis signals, determine the cause of the fault by combining fault codes and fault phenomena, and transmit the information to the control information output module.

[0007] As a further aspect of the present invention, the specific method by which the dynamic threshold determination module combines the deviation rate to infer the real-time coal and rock hardness is as follows: Obtain a pre-defined coal and rock hardness parameter library. For the shale range, obtain the corresponding shale hardness denoted as H and the baseline flow rate Q0. Fit a linear correlation based on the data trend, specifically represented as Q. 0页岩 =-11.5H+97.5, for the sandstone region, a linear correlation is similarly fitted, specifically expressed as Q. 0砂岩 =-H+50; The collected real-time flow values ​​are preprocessed, and the average flow rate over five consecutive sampling periods is retained. This average flow rate is then used as the real-time flow value Q. 实 Then according to the formula Calculate the deviation rate between real-time flow and baseline flow. Where Q0 is the initial reference flow rate under the current operating conditions, determined by the coal and rock type. Simultaneously, the real-time coal and rock hardness H is obtained by inversely estimating the real-time coal and rock hardness using a fitted linear correlation and deviation rate. t .

[0008] As a further aspect of the present invention, the specific method by which the dynamic threshold determination module determines the correction coefficient and calculates the dynamic alarm threshold is as follows: The correction coefficients for different coal and rock types are determined based on the piecewise mapping rule. When the coal and rock type is shale, then k = 0.1 + 0.02 × (H t -3), where H t To calculate the real-time coal hardness of shale, when the coal type is transitional lithology, k = 0.14 + 0.0032 × (H t -5), when the coal and rock type is shale, then k=0.3, and the dynamic alarm threshold is calculated according to the formula dynamic alarm threshold=base flow rate×(1-k).

[0009] As a further aspect of the present invention, the specific method by which the early warning comparison and analysis module generates first-level or second-level alarm processing information and linkage control signals is as follows: The real-time flow rate is compared with the dynamic alarm threshold. If the real-time flow rate is less than or equal to 80% of the dynamic threshold and lasts for 5 seconds, it is classified as a Level 1 alarm and a Level 1 alarm signal is generated. At the same time, the audible and visual alarm issues a yellow warning, the star wheel propulsion speed is reduced, and Level 1 alarm processing information is generated. If the real-time flow rate is ≤50% of the dynamic threshold and lasts for 3 seconds, it is classified as a level 2 alarm, and a level 2 alarm signal and linkage control signal are generated. For the generated level 2 alarm signal, the audible and visual alarm will issue a red alarm, and a cycle of reverse rotation for 5 seconds and forward rotation for 3 seconds will be executed, with the number of cycles not exceeding three. The power of the drive motor will be increased synchronously, and level 2 alarm processing information will be generated and monitored. If the real-time flow rate is still ≤60% of the dynamic threshold or the pressure is ≥8MPa after 3 cycles, a fault analysis signal will be generated; otherwise, no action will be taken.

[0010] As a further aspect of the present invention, the specific method by which the early warning comparison and analysis module analyzes the linkage control signal is as follows: Get real-time traffic Q from the star wheel 星轮，油 The material conversion coefficient K1, the speed v of the first / second transport, and the conveyor coefficient K2 are used to establish a correlation model based on the obtained parameters. 星轮，油 ×K1=v×3600×K2, and calculate according to the above formula. Meanwhile, the operating speed v of the first / second transport is optimized in segments; The calculated running speed v is dynamically adjusted using PID control to obtain the actual running speed v. 实 According to the formula The corrected speed difference was calculated. Simultaneously calculate the corrected speed difference. Compared with the actual operating speed v 实 The sum of these values ​​yields a dynamically adjusted speed.

[0011] As a further aspect of the present invention, the specific method for performing segmented optimization processing on the obtained operating speeds v of the first and second transport vehicles is as follows: If Q 星轮，油 ≤0.8×Q 0，星轮 And Q 0，星轮 As the current coal and rock benchmark flow rate, then... To calculate the standard operating speed, if 0.8 × Q 0，星轮 星轮，油 ≤Q 0，星轮 Then a safety factor is introduced. And substitute it into the formula The running speed is calculated, if Q 星轮，油 Q 0，星轮 If the speed is locked at 1.1 times the rated speed, then the speed will be locked.

[0012] ​As a further aspect of the present invention, the comprehensive processing and analysis module determines the cause of the fault by combining the fault code and the fault phenomenon in the following specific way: Obtain the fault type corresponding to the fault code, and at the same time obtain the corresponding fault phenomenon. Determine whether the fault phenomenon corresponding to the fault type matches the fault type. If they match, generate the fault cause based on the fault type. Otherwise, if they do not match, obtain the fault causes corresponding to the two separately, and generate a combined fault cause.

[0013] A method for preventing stalling in tunneling equipment based on dynamic flow thresholds and multi-level linkage, specifically including the following steps: Step S1: Collect real-time flow rate, real-time pressure, and real-time rotation speed through different sensors, remove outliers from the obtained real-time data, and calculate the deviation rate of real-time flow rate. Step S2: Use a piecewise function to fit the correlation between coal and rock hardness parameters and the baseline flow rate, and combine the deviation rate to back-calculate the real-time coal and rock hardness. At the same time, determine the correction coefficient and calculate the dynamic alarm threshold. Step S3: Generate a first-level or second-level alarm signal based on the relationship between real-time flow and dynamic alarm threshold, and process the first-level or second-level alarm processing information and linkage control signal respectively. Step S4: Continuously monitor the secondary alarm processing information to generate a fault analysis signal, analyze it, and determine the cause of the fault by combining the fault code and the fault phenomenon. Step S5: Analyze the linkage control signal, establish an association model, calculate the operating speed based on the relationship between the real-time flow rate of the star wheel and the reference flow rate, and perform PID dynamic adjustment to generate a dynamically adjusted speed.

[0014] This invention provides a control system and method for preventing stalling in tunneling equipment based on dynamic flow thresholds and multi-level linkage. Compared with existing technologies, it has the following advantages: This invention, based on a coal and rock hardness parameter library and real-time flow rate change rate, fits the correlation between hardness and baseline flow rate using a piecewise function, and uses the deviation rate to infer real-time coal and rock hardness. It dynamically adjusts correction coefficients and alarm thresholds, enabling precise adaptation to complex working conditions of shale, sandstone, and transitional lithologies, thereby reducing the false judgment rate. It establishes a correlation model between the star wheel flow rate and the speed of the primary / secondary conveyor, achieving real-time matching of conveying speed and material input through PID dynamic adjustment. Simultaneously, when the star wheel experiences a secondary alarm, it synchronously triggers a reduction in the speed of the primary / secondary conveyor, forming a collaborative anti-blockage mechanism between the star wheel and the conveyor, reducing material accumulation. Based on an HMI, it enables dynamic parameter adjustment, real-time curve visualization, and data export, supporting one-click reset mode switching. Furthermore, through tiered alarms and audible / visual prompts, it lowers the threshold for manual intervention and is suitable for rapid response in complex underground working conditions. Attached Figure Description

[0015] Figure 1 This is a system block diagram of the present invention; Figure 2 This is a flowchart illustrating the steps of the present invention. Detailed Implementation

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0017] Example 1 Please see Figure 1 This application provides a tunneling equipment anti-blocking control system based on dynamic flow threshold and multi-level linkage, including: a sensor data acquisition module, a dynamic threshold determination module, an early warning comparison and analysis module, a comprehensive processing and analysis module, and a control information output module, combined with the appendix. Figure 1 It can be seen that the information between the above functional modules is transmitted in one direction only.

[0018] The sensor data acquisition module is used to collect the flow rate of the star wheel drive hydraulic oil in real time through a mine explosion-proof flow sensor, which is specifically installed in the oil inlet chamber of the star wheel hydraulic circuit. It also collects the oil pressure in real time through a pressure sensor, which is specifically integrated into the oil circuit downstream of the explosion-proof solenoid ball valve. Finally, it monitors the star wheel speed in real time through a speed sensor, which is specifically installed at the end of the star wheel drive shaft. The acquired sensor data is then transmitted to the dynamic threshold determination module.

[0019] The dynamic threshold determination module is used to dynamically adjust the threshold based on the HMI's preset coal and rock hardness parameter library and the real-time flow rate change rate. The specific processing method is as follows: A preset coal and rock hardness parameter library is obtained, and the relationship between coal and rock hardness parameters and reference flow rate is obtained. The hardness of shale is 3-5 MPa, and the corresponding reference flow rate is 40-63 L / min. The hardness of sandstone is 10-30 MPa, and the corresponding reference flow rate is 20-40 L / min. At the same time, a piecewise function is used to fit the correlation between different coal and rock hardness parameters and reference flow rate. For each shale region, the corresponding shale hardness is obtained, denoted as H, and the baseline flow rate is Q0. A linear correlation is fitted based on the data trend, specifically represented as Q. 0页岩 =-11.5H+97.5; Similarly, for the sandstone region, a linear correlation is fitted, specifically expressed as Q. 0砂岩 =-H+50; Next, the collected real-time flow values ​​are preprocessed, including the removal of outliers. When the flow rate of a single sample exceeds ±50% of the baseline flow rate range for the current coal and rock type, such as a flow rate >94.5 L / min or <20 L / min under shale conditions, it is determined to be an outlier. Specifically, the average flow rate of 5 consecutive sampling periods is retained, and the obtained average flow rate is used as the real-time flow rate value Q. 实 Then according to the formula Calculate the deviation rate between real-time flow and baseline flow. Where Q0 is the initial baseline flow rate under the current operating conditions, which is determined by the coal and rock type. For example, if the current operating condition is shale, then the corresponding Q0 is Q. 0页岩 =-11.5H+97.5, if the current working condition is sandstone, then Q0 is Q 0砂岩 =-H+50, and simultaneously combine the fitted linear correlation and deviation rate to back-calculate the real-time coal and rock hardness, thus obtaining the real-time coal and rock hardness H. t For example, if the deviation rate A value less than 0 indicates that the actual coal and rock hardness is higher than the initial preset value. Hard rock will cause a decrease in flow rate. For shale conditions, the initial H0 = 4 MPa and Q0 = 50 L / min. If Q... 实 =30L / min, then substituting into the shale correlation Q 0页岩 =-11.5H+2.5 Back-calculation yields the coal and rock hardness H. t =2.4MPa; The correction coefficient is determined based on real-time hardness. The correction coefficient for different coal and rock types is determined based on a piecewise mapping rule. When the coal and rock type is shale, the specific H... t If ≤5MPa, then k=0.1+0.02×(H) t -3), where H t To calculate the real-time coal hardness of shale, when the coal type is transitional lithology, the specific value is 5 MPa. <H t If ≤10MPa, then k=0.14+0.0032×(H) t -5), when the coal and rock type is shale, the specific H t If the pressure is >10MPa, then k=0.3. Then, the obtained correction coefficient is substituted into the formula: dynamic alarm threshold = baseline flow rate × (1-k) to calculate the dynamic alarm threshold, and then it is transmitted to the early warning comparison and analysis module.

[0020] Based on practical analysis, for dynamic threshold calculation under shale conditions, the operator presets the current situation as shale using the HMI, with an initial hardness H0 = 4 MPa, corresponding to an initial baseline flow rate Q0 = -11.5 × 4 + 97.5 = 51.5 L / min. Five cycles of flow rate were collected, showing [42, 40, 41, 43, 42] L / min (no outliers). Q 实=41.6 L / min, further calculation of its deviation rate was performed according to the formula. The deviation rate was calculated. =-19.2%; Simultaneously substituting into the shale correlation equation Q 0页岩 =-11.5H+97.5 to calculate the real-time coal and rock hardness H t The pressure is 4.86 MPa, and the real-time coal and rock hardness H t If the pressure is 4.86 MPa, which falls within the shale range, then k = 0.1 + 0.02 × (H) t -3), after calculation, k=0.137. Further according to the formula, the dynamic alarm threshold = base flow rate × (1-k) is calculated to be 35.8L / min.

[0021] The early warning comparison and analysis module is used to perform early warning analysis and processing based on the acquired dynamic alarm threshold. It compares the real-time flow with the dynamic alarm threshold. If the real-time flow is ≤ 80% of the dynamic threshold and lasts for 5 seconds, it is classified as a level 1 alarm and a level 1 alarm signal is generated. At the same time, the audible and visual alarm issues a yellow warning, the PLC reduces the star wheel propulsion speed by 10%-20%, and then records the real-time parameters without interrupting the operation, generating level 1 alarm processing information. If the real-time flow rate is ≤50% of the dynamic threshold and lasts for 3 seconds, it is classified as a level 2 alarm, and a level 2 alarm signal and linkage control signal are generated. For the generated level 2 alarm signal, the audible and visual alarm will issue a red alarm, and a cycle of reverse rotation for 5 seconds and forward rotation for 3 seconds will be executed, with the number of cycles not exceeding three. The power of the drive motor will be increased by 10% simultaneously, and level 2 alarm processing information will be generated and monitored. If the real-time flow rate is still ≤60% of the dynamic threshold or the pressure is ≥8MPa after 3 cycles, a fault analysis signal will be generated and transmitted to the comprehensive processing and analysis module. Otherwise, no processing will be performed. In response to the generated linkage control signal, the PLC will synchronously send a speed reduction signal to the primary and secondary operators. Upon receiving the signal, the primary and secondary operators will automatically reduce their operating speed by 30%. Simultaneously, by establishing a correlation model between the star wheel flow rate and the speed of the primary and secondary operators, and based on the real-time flow rate data of the star wheel, the operating speed of the primary and secondary operators is calculated using the correlation model. The specific calculation method is as follows: Get real-time traffic from the star wheel Q 星轮，油 Specifically, this represents the real-time flow rate of the pre-treated star wheel hydraulic oil; the material conversion coefficient K1 represents the conversion coefficient between the star wheel hydraulic oil flow rate and the material output, which is related to the coal and rock type; the primary / secondary conveyor speed v; and the conveyor conveying coefficient K2 represents the conversion coefficient between speed and conveying capacity, which is related to bandwidth and material bulk density. A correlation model is established based on the acquired parameters, Q. 星轮，油×K1=v×3600×K2, and calculate according to the above formula. Meanwhile, the operating speed v of the first / second transport is segmented and optimized so that the amount of material output by the star wheel per unit time is equal to the conveying amount of the first / second transport. If Q 星轮，油 ≤0.8×Q 0，星轮 And Q 0，星轮 As the current coal and rock benchmark flow rate, then... To calculate the standard operating speed, if 0.8 × Q 0，星轮 星轮，油 ≤Q 0，星轮 Then a safety factor is introduced. And substitute it into the formula The running speed is calculated, if Q 星轮，油 Q 0，星轮 If so, the speed is locked at 1.1 times the rated speed; The calculated running speed v is dynamically adjusted using PID control to obtain the actual running speed v. 实 According to the formula The corrected speed difference was calculated. Simultaneously calculate the corrected speed difference. Compared with the actual operating speed v 实 The sum of these values ​​yields a dynamically adjusted speed. Based on practical analysis, if the coal and rock type is shale, the corresponding material conversion coefficient K1 = 0.08, the conveying coefficient of the primary conveyor K2 = 15, and the star wheel reference flow rate Q... 0，星轮 =50L / min, real-time star wheel flow rate Q 星轮，油 =42L / min, which falls within the warning range. The operating speed is then calculated using the formula. The calculated value is v = 0.84 m / s, where the safety factor is... The value is 0.9, then according to the formula... Adjustment calculations were performed to obtain the corrected speed difference. =0.049m / s, further obtaining the actual operating speed v of the first transport vehicle. 实 =0.7m / s, and the sum of the two is calculated to obtain the dynamic adjustment speed =0.7m / s + 0.049m / s = 0.75m / s.

[0022] The comprehensive processing and analysis module processes the acquired fault analysis signals. First, it cuts off the star wheel hydraulic circuit, locks the system, acquires the fault codes displayed on the HMI, and triggers the highest-level audible and visual alarm. Then, it analyzes the cause of the fault based on the obtained fault codes, and the specific analysis method is as follows: ​Obtain the fault type corresponding to the fault code, and at the same time obtain the corresponding fault phenomenon. Determine whether the fault phenomenon corresponding to the fault type matches the fault type. If they match, generate the fault cause based on the fault type. Otherwise, if they do not match, obtain the fault causes corresponding to the two respectively, generate a combined fault cause, and transmit it to the control information output module.

[0023] The control information output module is used to display the acquired dynamic adjustment speed and fault causes to the corresponding management personnel.

[0024] Example 2 Please see Figure 2 This application provides a method for preventing stalling in tunneling equipment based on dynamic flow thresholds and multi-level linkage. The method specifically includes the following steps: Step S1: Collect real-time flow rate, real-time pressure, and real-time rotation speed through different sensors, remove outliers from the obtained real-time data, and calculate the deviation rate of real-time flow rate. Step S2: Use a piecewise function to fit the correlation between the coal and rock hardness parameters and the reference flow rate, and combine the deviation rate to back-calculate the real-time coal and rock hardness. At the same time, determine the correction coefficient and calculate the dynamic alarm threshold. The specific processing method is the same as the processing process of the dynamic threshold determination module. Step S3: Generate a first-level or second-level alarm signal based on the relationship between real-time traffic and dynamic alarm threshold, and process the first-level or second-level alarm processing information and linkage control signal respectively. The specific processing method is the same as the processing process of the early warning comparison and analysis module. Step S4: Continuously monitor the secondary alarm processing information to generate a fault analysis signal, analyze it, and determine the cause of the fault by combining the fault code and the fault phenomenon. The specific handling method is the same as the processing process of the comprehensive processing analysis module. Step S5: Analyze the linkage control signal, establish a correlation model, calculate the running speed based on the relationship between the real-time flow rate of the star wheel and the reference flow rate, and perform PID dynamic adjustment to generate a dynamic adjustment speed. The specific processing method is the same as the processing process of the early warning comparison analysis module.

[0025] The data in the above formulas are all calculated using numerical values, without substituting the units of the parameters. In addition, the contents not described in detail in this specification are all prior art known to those skilled in the art.

[0026] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A tunneling equipment anti-blocking control system based on dynamic flow threshold and multi-level linkage, characterized in that, include: The dynamic threshold determination module is used to fit the correlation between coal and rock hardness parameters and the baseline flow rate based on the HMI's preset coal and rock hardness parameter library. At the same time, it calculates the deviation rate of the real-time flow rate, and combines the deviation rate to back-calculate the real-time coal and rock hardness. It also determines the correction coefficient and calculates the dynamic alarm threshold, and transmits it to the early warning comparison and analysis module. The early warning comparison and analysis module is used to generate first-level or second-level alarm signals based on the relationship between real-time flow and dynamic alarm thresholds, and process them to generate first-level or second-level alarm processing information and linkage control signals. The second-level alarm processing information is continuously monitored for anomalies to generate fault analysis signals, which are then transmitted to the comprehensive processing and analysis module. The linkage control signals are analyzed, a correlation model is established, and the running speed is calculated based on the relationship between the real-time flow of the star wheel and the reference flow. PID dynamic adjustment is performed to generate a dynamic adjustment speed, which is then transmitted to the control information output module. The control information output module is used to display the obtained dynamic adjustment speed to the corresponding management personnel.

2. The tunneling equipment anti-blocking control system based on dynamic flow threshold and multi-level linkage according to claim 1, characterized in that, It also includes a sensor data acquisition module and a comprehensive processing and analysis module; The sensor data acquisition module is used to collect the flow rate of the star wheel drive hydraulic oil in real time through a mine explosion-proof flow sensor, collect the oil circuit pressure in real time through a pressure sensor, monitor the star wheel speed in real time through a speed sensor, and transmit the acquired sensor data to the dynamic threshold determination module. The integrated processing and analysis module is used to process fault analysis signals, determine the cause of the fault by combining fault codes and fault phenomena, and transmit the information to the control information output module.

3. The tunneling equipment anti-blocking control system based on dynamic flow threshold and multi-level linkage according to claim 1, characterized in that, The specific method by which the dynamic threshold determination module back-calculates the real-time coal and rock hardness based on the deviation rate is as follows: Obtain a pre-defined coal and rock hardness parameter library. For the shale range, obtain the corresponding shale hardness denoted as H and the baseline flow rate Q0. Fit a linear correlation based on the data trend, specifically represented as Q. 0页岩 =-11.5H+97.5, for the sandstone interval, a linear correlation is similarly fitted, specifically expressed as Q 0砂岩 =-H+50; The collected real-time flow values ​​are preprocessed, and the average flow rate over five consecutive sampling periods is retained. This average flow rate is then used as the real-time flow value Q. 实 Then, according to the formula δ=(Q 实 The deviation rate δ between the real-time flow rate and the reference flow rate is calculated using -Q0) / Q0, where Q0 is the initial reference flow rate under the current operating conditions, determined by the coal and rock type. Simultaneously, the real-time coal and rock hardness H is obtained by inversely estimating the real-time coal and rock hardness using a fitted linear correlation and the deviation rate. t .

4. The anti-blocking control system for tunneling equipment based on dynamic flow threshold and multi-level linkage according to claim 1, characterized in that, The specific method by which the dynamic threshold determination module determines the correction coefficient and calculates the dynamic alarm threshold is as follows: The correction coefficients for different coal and rock types are determined based on the piecewise mapping rule. When the coal and rock type is shale, then k = 0.1 + 0.02 × (H t -3), where H t To calculate the real-time coal hardness of shale, when the coal type is transitional lithology, k = 0.14 + 0.0032 × (H) t -5), when the coal and rock type is shale, then k = 0.

3. According to the formula dynamic alarm threshold = baseline flow rate × (1-k), the dynamic alarm threshold is calculated.

5. The anti-blocking control system for tunneling equipment based on dynamic flow threshold and multi-level linkage according to claim 1, characterized in that, The specific method by which the early warning comparison and analysis module generates first-level or second-level alarm processing information and linkage control signals is as follows: The real-time flow rate is compared with the dynamic alarm threshold. If the real-time flow rate is less than or equal to 80% of the dynamic threshold and lasts for 5 seconds, it is classified as a Level 1 alarm and a Level 1 alarm signal is generated. At the same time, the audible and visual alarm issues a yellow warning, the star wheel propulsion speed is reduced, and Level 1 alarm processing information is generated. If the real-time flow rate is ≤50% of the dynamic threshold and lasts for 3 seconds, it is classified as a level 2 alarm, and a level 2 alarm signal and linkage control signal are generated. For the generated level 2 alarm signal, the audible and visual alarm will issue a red alarm, and a cycle of reverse rotation for 5 seconds and forward rotation for 3 seconds will be executed, with the number of cycles not exceeding three. The power of the drive motor will be increased synchronously, and level 2 alarm processing information will be generated and monitored. If the real-time flow rate is still ≤60% of the dynamic threshold after 3 cycles, or the pressure is ≥8MPa, a fault analysis signal will be generated; otherwise, no action will be taken.

6. The tunneling equipment anti-blocking control system based on dynamic flow threshold and multi-level linkage according to claim 1, characterized in that, The specific method by which the early warning comparison and analysis module analyzes the linkage control signal is as follows: Get real-time traffic Q from the star wheel 星轮，油 The material conversion coefficient K1, the speed v of the first / second transport, and the conveyor coefficient K2 are used to establish a correlation model based on the obtained parameters. 星轮，油 ×K1=v×3600×K2, and calculate according to the above formula. At the same time, the operating speed v of the first / second transport is optimized in segments; The calculated running speed v is dynamically adjusted using PID control to obtain the actual running speed v. 实 According to the formula The corrected speed difference Δv is calculated, and the difference between the corrected speed difference Δv and the actual operating speed v is also calculated. 实 The sum of these values ​​yields a dynamically adjusted speed.

7. The tunneling equipment anti-blocking control system based on dynamic flow threshold and multi-level linkage according to claim 6, characterized in that, The specific method for performing segmented optimization on the obtained operating speeds v of the first and second transport vehicles is as follows: If Q 星轮，油 ≤0.8×Q 0，星轮 And Q 0，星轮 As the current coal and rock benchmark flow rate, then... To calculate the standard operating speed, if 0.8 × Q 0，星轮 星轮，油 ≤Q 0，星轮 Then, a safety factor λ is introduced and substituted into the formula. The running speed is calculated, if Q 星轮，油 Q 0，星轮 If the speed is locked at 1.1 times the rated speed, then the speed will be locked.​ 8. The anti-blocking control system for tunneling equipment based on dynamic flow threshold and multi-level linkage according to claim 2, characterized in that, The comprehensive processing and analysis module determines the cause of the fault by combining the fault code and the fault phenomenon in the following specific way: Obtain the fault type corresponding to the fault code, and at the same time obtain the corresponding fault phenomenon. Determine whether the fault phenomenon corresponding to the fault type matches the fault type. If they match, generate the fault cause based on the fault type. Otherwise, if they do not match, obtain the fault causes corresponding to the two separately, and generate a combined fault cause.

9. A method for preventing stalling of tunneling equipment based on dynamic flow threshold and multi-level linkage, executed by the anti-stalling control system for tunneling equipment as described in any one of claims 1-8, characterized in that, The method specifically includes the following steps: Step S1: Collect real-time flow rate, real-time pressure, and real-time rotation speed through different sensors, remove outliers from the obtained real-time data, and calculate the deviation rate of real-time flow rate. Step S2: Use a piecewise function to fit the correlation between coal and rock hardness parameters and the baseline flow rate, and combine the deviation rate to back-calculate the real-time coal and rock hardness. At the same time, determine the correction coefficient and calculate the dynamic alarm threshold. Step S3: Generate a first-level or second-level alarm signal based on the relationship between real-time flow and dynamic alarm threshold, and process the first-level or second-level alarm processing information and linkage control signal respectively. Step S4: Continuously monitor the secondary alarm processing information to generate a fault analysis signal, analyze it, and determine the cause of the fault by combining the fault code and the fault phenomenon. Step S5: Analyze the linkage control signal, establish an association model, calculate the operating speed based on the relationship between the real-time flow rate of the star wheel and the reference flow rate, and perform PID dynamic adjustment to generate a dynamically adjusted speed.

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