A method for coordinated control of an apron conveyor and a transfer machine

Abstract

The application provides a kind of scraper conveyor and the cooperative control method of transfer machine, it is related to industrial automation control technical field, it is through gathering scraper conveyor chain tension sequence and transfer machine material level sequence, constructs coal flow conveying power gradient based on adjacent tension difference and chain speed, constructs load proportion based on material level and design volume, the time-varying cooperative matching coefficient is calculated after the state characteristics of double machine is normalized in sliding window, the double machine cooperative matching degree curve is generated, the double machine speed cooperative adjustment instruction is generated based on the curve fitting slope sign and absolute value threshold value. From the difference of tension space distribution, the unloading end coal flow output state is extracted, the defect that traditional method cannot perceive local coal flow distribution according to total current is overcome, the matching degree curve slope is used to distinguish two kinds of mismatch modes of material overflow and unloading resistance increase, corresponding different double machine speed adjustment direction combination, eliminate the impact load generated by chain due to unloading resistance mutation, improve the running stability of transportation system.

Description

Technical Field

[0001] This invention relates to the field of industrial automation control technology, and more specifically, to a method for coordinated control of scraper conveyors and transfer machines. Background Technology

[0002] In fully mechanized coal mining faces, scraper conveyors and transfer mechanisms form the core links in coal flow transportation: the scraper conveyor receives coal cut by the mining machine along the face direction and transports it to the unloading end at the machine head; the transfer mechanism receives the coal unloaded by the scraper conveyor, crushes it, and then transfers it to the roadway belt conveyor. The two mechanisms overlap spatially and are sequentially connected, and the degree of matching of their operating states directly determines the coal output efficiency and equipment safety of the working face. With the advancement of intelligent construction in fully mechanized mining faces, scraper conveyors and transfer mechanisms are now commonly equipped with variable frequency speed control devices, providing the hardware foundation for automatic speed adjustment. Simultaneously, the gradual application of detection methods such as chain tension sensors, material level sensors, and speed sensors makes real-time acquisition of equipment operating status possible. Building upon this foundation, existing research has attempted to use the coupling of key parameters such as coal mining machine speed, coal mining machine position, coal mining machine current, and scraper conveyor current as the basis for variable frequency speed regulation. This involves constructing a judgment matrix and calculating eigenvectors to determine the weights of each parameter, and then adjusting the speed based on comprehensive evaluation indicators. Another approach uses the load current values ​​of the three transport devices as a reference to collaboratively adjust the operating frequencies of the front scraper conveyor, rear scraper conveyor, and transfer conveyor, ensuring that each device operates at a frequency matching its respective transport load. These technical approaches mark the initial evolution of transport equipment control from independent single-machine operation to multi-machine coordinated control.

[0003] However, existing technical solutions still have significant shortcomings in addressing the core issue of dynamic matching of coal flow between scraper conveyors and transfer conveyors. Firstly, existing solutions often use motor load current as the sole load characteristic parameter. Load current reflects the average stress state of the drive motor as a whole, failing to reveal the differences in coal seam thickness distribution along the coal flow direction in the scraper conveyor's carrying section. When some sections experience localized accumulation while others are unloaded, the total current may still be within the normal range, making it impossible for the system to identify the instantaneous trend of coal flow at the unloading end. Secondly, existing solutions generally do not consider the propagation time lag effect caused by the long-distance transport of coal along the scraper conveyor. The carrying section of a scraper conveyor can reach hundreds of meters in length, and the coal flow takes tens of seconds to propagate from the coal drop point of the mining machine to the unloading end. This means that the coal flow output state at the unloading end cannot be directly represented by the current mining state, but rather is the cumulative result of the coal flow distribution state several time periods ago. Ignoring this time lag will lead to a significant phase deviation between the state information on which control decisions are based and the actual handover state, causing timing misalignment of speed control commands. Third, existing solutions mostly employ fixed thresholds or judgment logic based on empirical weights, lacking adaptive dynamic boundaries based on historical stable operating conditions. This makes it difficult to adapt to the impact of time-varying factors such as changes in coal seam thickness, fluctuations in the cutting speed of the coal mining machine, and equipment wear on the control boundaries. These deficiencies result in a lack of precise dynamic matching between the coal flow rate at the unloading end of the scraper conveyor and the carrying capacity of the transfer conveyor: when the instantaneous coal flow rate at the unloading end suddenly increases, the transfer conveyor cannot detect it in time and continues to operate at the original speed, causing material overflow at the receiving port; when the coal flow rate at the unloading end suddenly decreases, the transfer conveyor still maintains high-speed operation, resulting in idling energy consumption and equipment wear. At the same time, the chain tension of the scraper conveyor generates impact loads due to fluctuations in unloading resistance, intensifying equipment vibration that cannot be eliminated through single-machine control. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a collaborative control method for scraper conveyors and transfer conveyors. This method can, to some extent, solve the problems of scraper conveyors and transfer conveyors operating independently, failing to perceive each other's load status and coal flow matching requirements, leading to material overflow at the receiving port, increased energy consumption during idling, and chain tension impact.

[0005] According to one aspect of the present invention, a method for coordinated control of a scraper conveyor and a transfer conveyor is provided, comprising:

[0006] Collect the chain tension sequence, chain speed, and material level sequence at the receiving port of the scraper conveyor in each carrying section. Construct a coal flow conveying power gradient with belt propagation time delay compensation based on the adjacent tension difference and chain speed. Construct the load ratio based on the material level and the design volume of the receiving port. Perform sliding window normalization on the change rate of the coal flow conveying power gradient and the load ratio to obtain the dual-machine state characteristics.

[0007] Based on the dual-machine state characteristics, calculate the dual-machine cooperative matching degree curve within the candidate propagation delay set;

[0008] Based on the curve slope and the dynamic boundary of historical stable operating conditions, an acceleration demand identifier for the transfer machine or a deceleration demand identifier for the scraper conveyor is generated.

[0009] Based on the aforementioned identifier and adjustment urgency weight, the speed of the transfer conveyor motor and the scraper conveyor motor are adjusted in linkage, and the coal mining machine traction speed reduction is triggered when the scraper conveyor reaches the minimum stable operating speed.

[0010] Furthermore, the construction of the coal flow conveying power gradient is achieved by sequentially calculating the tension difference at adjacent tension measuring points along the coal flow direction of the scraper conveyor, multiplying the tension difference with the chain speed at the corresponding moment, and then weighting and fusing the result according to the segment propagation time delay and the reliability of the measuring point. The result of the fusion is then subjected to inverse hyperbolic sine compression.

[0011] The propagation delay of the segment is determined by the geometric distance from the adjacent measuring point to the unloading end and the current chain speed, and the reliability of the measuring point is determined by the over-range state, the packet loss state, and the consistency of the change direction of the adjacent measuring points.

[0012] Further, calculating the dual-machine collaborative matching degree curve includes:

[0013] The components representing the state changes of the scraper conveyor and the components representing the state changes of the transfer machine are included in the dual-machine operating state feature vector.

[0014] Then, sliding association calculations are performed on each candidate propagation delay set determined by the device geometric distance and the current chain speed, and the association results under each candidate delay are weighted and fused by soft selection weights.

[0015] Subtracting the penalty term for candidate time delays that deviate from the physical propagation time, time-varying cooperative matching coefficients are generated and plotted as dual-machine cooperative matching degree curves in chronological order.

[0016] Furthermore, the time-varying cooperative matching coefficient is calculated as follows:

[0017]

[0018] in, Candidate propagation delay The sliding coefficient of cooperation under the following conditions The weights of the samples within the window. Candidate propagation delay The weighted mean of the normalized sequence of the rate of change of the power gradient in the coal flow transport. This is the weighted mean of the normalized sequence of the rate of change in the load ratio of transfer machines. and These are the components representing the state changes of the scraper conveyor and the components representing the state changes of the transfer machine in the dual-machine operating state feature vector, respectively. and These are the weighted means of the corresponding sequences. and It is a stable term.

[0019] Furthermore, generating the transfer machine acceleration demand identifier or the scraper conveyor deceleration demand identifier includes:

[0020] Retrieve the historical stable operating condition database, which includes the coordination matching degree curve, coal flow conveying power gradient, transfer machine load ratio and equipment operating parameters collected when there is no overflow at the material inlet, no obvious idling of the transfer machine, and no abnormal impact on the scraper conveyor chain.

[0021] The historical stable samples were grouped according to the coal cutting speed of the coal mining machine, the chain speed of the scraper conveyor, and the rotation speed of the transfer machine. The slope distribution of the stable curve was extracted in each working condition group to form the upper dynamic judgment boundary and the lower dynamic judgment boundary.

[0022] When the slope of the current fitted segment is outside the lower dynamic judgment boundary and the load ratio of the transfer machine continues to rise, a transfer machine acceleration demand identifier is generated.

[0023] When the slope of the current fitted segment is outside the upper dynamic judgment boundary and the representative value of the coal flow conveying power gradient continues to rise relative to the stable baseline under the same working conditions, a scraper conveyor deceleration demand identifier is generated to link and adjust the speed of the transfer machine motor and the scraper conveyor motor. The linkage combination mode of the transfer machine acceleration and scraper conveyor deceleration is determined according to the type of the identifier, and the adjustment urgency weight uniformly adjusts the speed change range of both. At the same time, the speed increase of the transfer machine and the deceleration of the scraper conveyor are corrected by the load boundary pressure of the receiving port and the chain tension boundary pressure, respectively. The deceleration of the scraper conveyor is also adjusted by the equipment calibration proportional coefficient, thereby realizing the differentiated and coordinated adjustment of the speed of the two machines.

[0024] Furthermore, the deceleration of the scraper conveyor is adjusted by the equipment calibration proportional coefficient as shown in the following formula:

[0025]

[0026] in, The proportional coefficient is calibrated for the equipment in the current control cycle. This indicates that the projection is made to the allowed range of values. This is a dimensionless correction factor. and These are the residual load ratio of the transfer machine and the residual power gradient of the coal flow after the execution of the previous control cycle, respectively.

[0027] According to another aspect of the present invention, a coordinated control system for a scraper conveyor and a transfer conveyor is provided, comprising:

[0028] The data acquisition and state feature extraction module is used to collect the chain tension sequence, chain speed and material level sequence of each carrying section of the scraper conveyor and the material level sequence of the transfer machine receiving port. Based on the adjacent tension difference and chain speed, a coal flow conveying power gradient with belt propagation time delay compensation is constructed. Based on the material level and the design volume of the receiving port, a load ratio is constructed. The change rate of the coal flow conveying power gradient and the load ratio is normalized by sliding window to obtain the state features of the two machines.

[0029] The collaborative matching calculation module is used to calculate the collaborative matching degree curve of the two machines within the candidate propagation delay set based on the dual-machine state characteristics.

[0030] The trend diagnosis and identification generation module is used to generate an acceleration demand identifier for a transfer machine or a deceleration demand identifier for a scraper conveyor based on the curve slope and the dynamic boundary of historical stable operating conditions.

[0031] The coordinated speed control execution module is used to adjust the speed of the transfer conveyor motor and the scraper conveyor motor in conjunction with the identification and adjustment urgency weight, and to trigger the coal mining machine to reduce traction speed when the scraper conveyor reaches the minimum stable operating speed.

[0032] Compared with existing technologies, the collaborative control method for scraper conveyors and transfer conveyors provided by this invention collects the chain tension sequence and chain speed of the scraper conveyor and the material level sequence at the material inlet of the transfer conveyor. Based on the adjacent tension difference and chain speed, it constructs a coal flow conveying power gradient with propagation time delay compensation. Based on the material level and design volume, it constructs the load ratio. Then, within a candidate time delay set, it performs sliding correlation calculations on the dual-machine state characteristics to generate a collaborative matching degree curve. Based on the curve slope and the dynamic boundary of historical stable operating conditions, it generates a speed regulation demand identifier. Finally, it links and adjusts the speed of both machines, triggering the coal mining machine to reduce speed when the scraper conveyor reaches its minimum stable speed. This allows the extraction of the coal flow output state at the unloading end from the spatial distribution differences of tension, overcoming the shortcomings of traditional methods that cannot perceive the local coal flow distribution in the carrying section based on total current. Simultaneously, the introduction of propagation time delay compensation eliminates control phase deviations caused by long-distance transportation, avoids overflow and idling caused by mismatch, and eliminates impact loads on the chain caused by sudden changes in unloading resistance. This improves the operational stability and reliability of the transportation system under complex operating conditions, ultimately enhancing the overall efficiency of the coal flow transportation system in the fully mechanized mining face. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0034] Figure 1 This is a flowchart of a coordinated control method for a scraper conveyor and a transfer machine according to an embodiment of the present invention.

[0035] Figure 2 This diagram illustrates an application scenario of the coordinated control method for scraper conveyors and transfer machines according to an embodiment of the present invention. Detailed Implementation

[0036] Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments of the present invention. It should be understood that the present invention is not limited to the exemplary embodiments described herein.

[0037] As mentioned in the background section, in existing control methods, the scraper conveyor and the transfer conveyor operate independently, adjusting their speeds solely based on their own motor load current. This fails to detect the real-time load status of the other equipment and the dynamic matching requirements during coal flow transfer. When the coal flow rate at the scraper conveyor's unloading end increases instantaneously, the transfer conveyor's insufficient capacity leads to overflow at the receiving port. Conversely, when the coal flow rate at the scraper conveyor's unloading end decreases sharply, the transfer conveyor continues to operate at its original speed, resulting in idling energy consumption. Simultaneously, the scraper conveyor chain tension generates impact loads due to fluctuations in unloading resistance, exacerbating equipment vibration that cannot be eliminated through individual machine control.

[0038] Figure 1 This is a flowchart illustrating a coordinated control method for a scraper conveyor and a transfer conveyor according to an embodiment of the present invention. Figure 1 and Figure 2 As shown, the coordinated control method for scraper conveyors and transfer conveyors includes:

[0039] S1. The dual-machine collaborative controller receives the chain tension sequence, chain running speed, and transfer conveyor material inlet accumulation height sequence of each carrying section of the scraper conveyor. After unifying and aligning the spatial position, sampling time, and validity status of each tension measuring point, it converts the spatial tension difference of the scraper conveyor along the coal flow direction into a coal flow conveying power gradient sequence with propagation time delay compensation. Then, it converts the transfer conveyor material inlet accumulation height into a dimensionless load ratio sequence, thereby forming a dual-machine operating state feature vector that can simultaneously characterize the coal flow output state at the unloading end of the scraper conveyor and the material receiving and carrying state of the transfer conveyor.

[0040] First, the dual-machine collaborative controller reads the chain tension values ​​at each measuring point from the tension sensor group of the scraper conveyor's carrying section, and also reads the current chain speed and the material level at the transfer conveyor's receiving port. Each tension measuring point has a unique installation location number and installation distance coordinates along the coal flow direction of the scraper conveyor. The chain speed detection unit outputs the chain speed, and the material level sensor outputs the stacking height. Subsequently, the system timestamps the data of each channel according to a unified control cycle and resamples data with different sampling frequencies: for data higher than the control cycle, the median value of the data that passed the validity check within that control cycle is taken; for data lower than the control cycle, linear compensation is performed based on adjacent valid times, so that tension, chain speed, and material level participate in subsequent calculations at the same control time. If a tension measuring point experiences short-term packet loss, exceeds the range, or has a significant sudden change, a lower reliability is assigned based on the direction of change of adjacent measuring points, historical continuity, and the recent noise level of that measuring point. If necessary, the previous valid value is used as a transition, preventing single-point anomalies from directly dominating subsequent collaborative judgments.

[0041] Furthermore, the dual-machine collaborative controller does not simply weight the tension and material level values. Instead, it first traverses adjacent tension measuring points along the coal flow direction, reading the upstream and downstream tensions of each segment, as well as the corresponding propagation delay. Segments closer to the unloading end have shorter propagation delays; for segments farther from the unloading end, the propagation delay is determined by the distance from the segment center to the unloading end and the current chain speed. The system multiplies the tension difference between adjacent measuring points by the chain speed at the corresponding moment to form the conveying power difference for that segment. To avoid directly amplifying extreme differences caused by localized impacts, jamming, or electrical interference, the system performs dimensionless transformation on the power difference before employing inverse hyperbolic sine compression. This maintains a near-linear response for normal fluctuations, while abnormal impacts are flexibly compressed before entering the fusion process. The inverse hyperbolic sine calculation and subsequent exponential calculation can be implemented within the control cycle using a lookup table, piecewise linear approximation, or a controller floating-point library to ensure real-time performance in industrial settings.

[0042] In one implementation, the coal flow conveying power gradient sequence, the transfer machine load ratio sequence, and the dual-machine operating state feature vector can be determined according to the following core calculation formula:

[0043]

[0044]

[0045]

[0046] in, This represents the power gradient of the coal flow at the current control moment, in watts. It is the product of the rated traction force and the rated chain speed of the scraper conveyor, expressed in watts, and is used as a unit of reference for power difference. For the first At time 1, tension measuring points The chain tension, measured in Newtons; The speed of the chain is measured in meters per second. For the first The coal flow propagation time compensation amount corresponding to each adjacent measuring point section, in seconds; This represents the current data reliability of the section. It is a dimensionless quantity and can be determined based on factors such as whether the measurement range is exceeded, whether there are continuous packet losses, and whether the direction of change is consistent with that of adjacent measurement points. The typical response time, in seconds, is the time it takes for coal to flow from the bearing section near the unloading end into the receiving port of the transfer machine.

[0047] in, The percentage of load on the transfer machine is a dimensionless quantity. This refers to the stacking height at the material receiving port of the transfer machine, in meters. The volume occupied by the stockpiled coal is calculated based on the geometric parameters of the inlet or the material level-volume calibration curve, and the unit is cubic meters. The design volume or allowable bearing volume of the material receiving port of the transfer machine is given, in cubic meters. For implementations with a regular cross-section of the material receiving port, the volume can be calculated based on the effective base area, side wall inclination angle, and stacking height; for implementations with irregular structures, The dimensions are determined by the equipment's three-dimensional design or by graded feeding calibration tests. This is achieved by first converting the material level height into volume and then normalizing it.

[0048] Furthermore, express Rate of change with respect to time, measured in watts per second; express The rate of change with respect to time, measured in seconds. , Each in the window The real-time mean and standard deviation; , Each in the window The real-time mean and standard deviation; and The noise lower limit is obtained from the sensor calibration resolution propagation, and all have the same dimensions as the corresponding rate of change.

[0049] Furthermore, to meet the real-time calculation requirements within the control cycle, The calculations can preferably be implemented using a lookup table method or piecewise linear approximation. The exponential weighting and subsequent soft selection calculations can also be implemented using a pre-calculated table or a recursive update method. This processing does not change the physical correspondence between the coal flow conveying power gradient and the transfer machine load ratio; it is only used to improve the operational stability and execution speed within the control cycle.

[0050] S2, the dual-machine collaborative controller receives the dual-machine operating status feature vector output by S1, performs sliding collaborative calculation with physical propagation time delay constraints on the normalized component of the coal flow conveying power gradient change rate and the normalized component of the transfer machine load ratio change rate, determines the optimal propagation matching relationship in a soft selection manner within the candidate time delay set, obtains the time-varying collaborative matching coefficient, and generates the dual-machine collaborative matching degree curve in time sequence.

[0051] First, the dual-machine collaborative controller reads the dual-machine operating status feature vectors from the feature buffer for multiple consecutive time points. The first component is denoted as the normalized sequence of the coal flow conveying power gradient change rate, and the second component as the normalized sequence of the transfer machine load ratio change rate. Then, the system determines a candidate propagation delay set based on the geometric distance from the scraper conveyor unloading end to the transfer machine receiving port, the current chain speed, and the response period of the level sensor. This candidate propagation delay set only includes lags that can be aligned within the current sliding time window, without using arbitrary delays detached from the equipment structure. For each candidate propagation delay, the system forward-aligns the normalized sequence of the coal flow conveying power gradient change rate, comparing the coal flow output change on the scraper conveyor with the load change at the transfer machine receiving port after a reasonable lag.

[0052] Furthermore, for each candidate propagation delay, the system calculates a weighted coordination coefficient for the two normalized sequences. Data closer to the current time within the window receives a higher time weight; data with lower reliability receives a lower weight; and data reflecting the true coal flow propagation relationship receives a higher weight than pseudo-correlated data caused only by vibration or communication synchronization errors. The coordination coefficient does not directly take a single maximum value, but rather uses soft-selection weights to compromise between multiple candidate propagation delays, thereby avoiding hysteresis jumps caused by disturbances at a single sampling point.

[0053] In one implementation, the time-varying cooperative matching coefficient can be determined according to the following core calculation formula:

[0054]

[0055]

[0056]

[0057] in, In the first Each control moment and candidate propagation delay is: The sliding coordination coefficient obtained at that time is used to characterize the consistency between the rate of change of the coal flow transport power gradient and the rate of change of the load ratio of the transfer machine under that time lag. This is the discrete-time index corresponding to the current control moment. This is the discrete lag index corresponding to the candidate propagation delay, usually represented by the number of sampling points. For the sample index within the sliding window, The sliding window length is the number of sampling points participating in the collaborative computation. For the first in the window The sample at the th The weighting coefficient for each time step is a dimensionless quantity used to reflect the reliability of the sample and the degree of temporal proximity. The normalized component of the rate of change of the power gradient in coal flow transportation, after candidate hysteresis. Aligned Each sample value In the first At any given moment, candidate lag Below, the weighted average of the normalized component of the rate of change of the coal flow transport power gradient within the sliding window, The normalized component of the rate of change of load ratio of transfer machine is the first... The value at each sample time point The normalized component of the rate of change of load ratio of transfer machine is the first... The weighted average within the sliding window at each time point This is a stabilizing term for the variance of the rate of change of the power gradient in coal flow transportation, used to prevent the denominator from being too small. This is a stabilizing term for the variance of the rate of change in the load percentage of the transfer machine, used to prevent the denominator from being too small. and These are the weighted averages of the corresponding sequences.

[0058] in, The soft selection weights for candidate propagation delays are calculated using the coordination coefficients under each candidate delay. The dimensionless smoothing parameter is preferably calibrated by the standard deviation of each candidate time delay coordination coefficient in the stable operating condition sample. During cold start, the factory calibration value can be taken first, and then updated after the stable sample is accumulated. It is preferably 1.5 to 2.0 times the standard deviation of the stable sample. The time-varying cooperative matching coefficient at the current control moment is a dimensionless quantity. The physical center propagation time is calculated based on the current chain speed and the device's geometric path, in seconds. The sampling period is expressed in seconds. The time delay deviation penalty coefficient is a dimensionless quantity, with a preferred initial value of 0.5, and is corrected online based on chain speed, propagation time, and sensor noise level, typically controlled within the range of 0.3 to 0.8. The last term in the formula is used to penalize candidate time delays that significantly deviate from the physical propagation time, preventing the system from misinterpreting common vibrations, communication synchronization errors, or occasional noise as coal flow propagation relationships.

[0059] Furthermore, when the chain speed increases and the coal flow propagation time decreases, the system can be appropriately increased. To enhance the suppression of time delay deviations; when the chain speed decreases and the propagation process slows down, the system appropriately reduces... This is to avoid over-punishing reasonable delays in dissemination. Instead of relying on fixed empirical values, it is corrected by both the current operating status of the equipment and historical stable samples. To meet the requirements of real-time calculation within the control cycle, the exponential weight and soft selection calculations can be implemented through table lookup, piecewise linear approximation, or recursive update methods.

[0060] At each control moment After the calculation is completed, the dual-machine collaborative controller will The data are written into the collaborative matching buffer in chronological order and connected to form a dual-machine collaborative matching degree curve. If the change in coal flow at the unloading end of the scraper conveyor can be absorbed by the change in the receiving load of the transfer machine after a reasonable propagation time lag, the curve will fluctuate slightly near the stable operating condition distribution. If the coal flow at the unloading end of the scraper conveyor increases instantaneously while the load response of the transfer machine is lagging or insufficient, the curve will show a continuous negative evolution. If the resistance change at the receiving end or unloading end of the transfer machine is reverse-coupled to the chain tension distribution of the scraper conveyor, the curve may show a continuous positive evolution accompanied by an increase in the coal flow conveying power gradient. The dual-machine collaborative matching degree curve then directly enters the trend identification process of S3.

[0061] S3. The dual-machine collaborative controller performs online segmented linear fitting on the dual-machine collaborative matching degree curve, extracts the trend slope of each fitting segment, and combines the historical stable working conditions to dynamically judge the boundary, the evolution state of the load ratio of the transfer machine and the evolution state of the coal flow conveying power gradient to generate the acceleration demand identifier of the transfer machine and the deceleration demand identifier of the scraper conveyor. Under extreme working conditions, the candidate identifier of the coal mining machine traction deceleration is generated simultaneously, and the adjustment urgency weight is formed according to the timeliness of the demand identifier.

[0062] First, the dual-machine collaborative controller reads a segment of the dual-machine collaborative matching degree curve from the collaborative matching buffer prior to the current control moment. The time length of this curve segment covers at least one handover process where coal flows from the scraper conveyor unloading end into the transfer conveyor receiving port and form a material level response. Then, the system performs piecewise linear fitting on this curve segment, extracting the fitting slope that characterizes the direction and rate of change of the collaborative matching degree. If the fitting residual of the current curve segment continues to increase, and the residual distribution deviates from the envelope of the steady-state residual, the system divides the current curve segment into a new fitting segment; if the residual is still within the envelope of the steady-state residual, the current fitting segment is used for recursive fitting. This processing method ensures that the slope trend originates from continuous real handover states, rather than a single isolated point.

[0063] Furthermore, the dual-machine collaborative controller retrieves a historical stable operating condition database. This database includes at least the following data collected under conditions of no material overflow at the receiving port, no significant idling of the transfer conveyor, no abnormal impact on the scraper conveyor chain, and continuous stable speed commands for both machines: collaborative matching curve, coal flow conveying power gradient, transfer conveyor load ratio, coal cutting speed of the mining machine, scraper conveyor chain speed, and transfer conveyor rotation speed. To address the cold start problem, if there are insufficient stable samples before commissioning, the system first establishes an initial dynamic boundary using the factory calibration boundary and historical samples from adjacent working faces in the same coal seam. The first 200 control cycles are used as a transition sampling segment, during which only records are made without updating the boundary. Once samples meeting the stable operating condition entry criteria are accumulated, the system switches to a data-driven boundary. The stable operating condition entry criteria are not a single fixed threshold, but require that the normalized material level change rate and the normalized chain speed fluctuation rate both fall within the stable zone of the current operating condition group, and that no speed adjustment command is issued within the continuous holding period, preferably for approximately 30 consecutive seconds without any change in the speed setpoint. Only samples formed in this way are written into the historical stable operating condition database.

[0064] Furthermore, the historical stable operating condition database is updated using a rolling window, preferably retaining stable samples from the most recent 7 days or the most recent 3 mining shifts, and grouped according to the coal cutting speed of the coal mining machine, the chain speed of the scraper conveyor, the rotation speed of the transfer conveyor, and the coal seam thickness or coal flow grade of the working face. Within each operating condition group, the system calculates the median, upper and lower quartiles, and median absolute deviation of the fitting slope of the historical samples, forming dynamic judgment boundaries on both sides. Since the boundaries are derived from historical stable data of the same equipment and operating conditions, these boundaries can be updated online with equipment wear, coal seam changes, and coal mining machine speed changes, without relying on fixed manual experience values.

[0065] When the slope of the current fitted segment is outside the lower dynamic judgment boundary, the dual-machine collaborative controller continues to read the evolution of the load ratio of the transfer machine within the same fitted segment. If the load ratio of the transfer machine continues to rise, or the volume occupied by the transfer machine's receiving port approaches the operating boundary determined by the design volume and the stable operating volume distribution, the system marks the fitted segment as a period of insufficient transfer machine carrying capacity and generates a transfer machine acceleration demand identifier. This identifier includes at least the demand type, the start and end times of the fitted segment, the marking time, the current fitted slope, the source of the corresponding dynamic judgment boundary, the current load ratio of the transfer machine, the representative value of the current coal flow conveying power gradient, and the sensor validity status. The technical implication is that a continuous negative evolution of the collaborative matching degree indicates that the change in coal flow at the scraper conveyor unloading end has not been absorbed by the transfer machine's receiving port within a reasonable time lag, while the transfer machine load continues to rise, indicating insufficient receiving capacity, requiring an increase in the transfer machine's discharge capacity and suppression of continuous upstream input.

[0066] When the slope of the current fitted segment is outside the upper dynamic judgment boundary, the dual-machine collaborative controller continues to read the representative value of the coal flow conveying power gradient and its rate of change within the same fitted segment. If the representative value of the coal flow conveying power gradient continues to rise relative to the stable baseline under the same working condition, or if the chain tension fluctuation amplitude continues to expand relative to the stable tension distribution, the system marks the fitted segment as a period of increased unloading resistance of the scraper conveyor and generates a scraper conveyor deceleration demand identifier. This identifier includes at least the demand type, the start and end times of the fitted segment, the marking time, the current fitted slope, the deviation state of the coal flow conveying power gradient, the chain tension boundary pressure, and the sensor validity status. The technical implication is that a rapid positive evolution of the collaborative matching degree does not necessarily indicate a good working condition, but rather that the change in unloading end resistance is being more strongly fed back into the chain tension distribution of the scraper conveyor. Without deceleration constraints, chain impact and energy consumption will continue to increase.

[0067] On the other hand, if the same fitted segment simultaneously meets the identification conditions of insufficient load-bearing capacity of the transfer machine and increased unloading resistance of the scraper conveyor, the dual-machine collaborative controller will merge the two demand identifiers into a composite adjustment identifier. The system simultaneously stores the inlet load boundary pressure and the chain tension boundary pressure in the composite adjustment identifier. The inlet load boundary pressure is determined by the degree to which the current load percentage is close to the stable load distribution under the same working condition and the design volume operating boundary; the chain tension boundary pressure is determined by the degree to which the current coal flow conveying power gradient and tension fluctuation amplitude are close to the stable distribution under the same working condition and the equipment's rated tension operating boundary. Both boundary pressures are expressed in dimensionless form and are used to correct the linkage speed regulation amplitude of the two devices in S4.

[0068] Once the demand identifier is generated, the dual-machine collaborative controller calculates and adjusts the urgency weight based on the time difference between the marked time of the demand identifier and the current time. A larger weight indicates that the abnormal handover state is closer to the current control time, requiring faster speed adjustment; a smaller weight indicates that the abnormal state has been covered by subsequent normal states, or its impact on the current coal flow handover process has weakened. To ensure numerical stability, the system preferably normalizes the time difference using the effective response time of the equipment before calculating the urgency weight, keeping it within a controllable range, rather than directly using a simple reciprocal that might diverge when the time difference is close to zero.

[0069] Furthermore, when the scraper conveyor has reached its target speed at the minimum safe operating boundary after implementing speed reduction control, and the dual-machine coordination matching degree continues to evolve negatively over multiple consecutive control cycles, while the load ratio of the transfer conveyor has not yet returned to the stable zone, the system will no longer continue to reduce the scraper conveyor speed indefinitely. Instead, it will simultaneously generate a candidate flag for the coal mining machine's traction speed reduction and send this flag to the coal mining machine control terminal. This candidate flag is used to rematch the upstream coal mining speed with the downstream transportation capacity, avoiding the risk of coal accumulation, chain instability, or slippage caused by prolonged low-speed operation of the scraper conveyor. If the coal mining machine itself is already at its permissible lower limit, the system will maintain the current minimum safe traction speed and continue to maintain transportation balance through the linkage of the transfer conveyor's speed increase and the scraper conveyor's speed reduction.

[0070] S4. Based on the dual-machine speed coordination adjustment command, the dual-machine coordination controller converts the transfer machine acceleration demand identifier, the scraper conveyor deceleration demand identifier, the adjustment urgency weight, the material receiving port load boundary pressure, and the chain tension boundary pressure into the linkage speed setpoints that can be executed by the frequency converters of the two devices. When the scraper conveyor reaches the minimum safe operating boundary, the coal mining machine traction deceleration control is triggered synchronously, thereby obtaining the coordination control execution result.

[0071] First, the dual-machine collaborative controller reads the current actual speed of the transfer conveyor, the current actual speed of the scraper conveyor, the current allowable acceleration / deceleration ramps of the two frequency converters, the rated speed range of the equipment, the minimum stable operating speed of the chain, the maximum allowable load speed of the transfer conveyor, and the interlocking status of the downstream transport equipment to form a feasible operating domain for the current control cycle. This feasible operating domain is not a single upper or lower limit of speed, but rather a set of constraints that simultaneously includes the speed range, the allowable variation within a unit of time, mechanical impact limits, and downstream transport load limits. Before sending the control values ​​to the frequency converters, the system projects the calculation results into the feasible domain to ensure that the final target speed does not exceed the mechanical and process boundaries of the equipment.

[0072] Furthermore, when S3 outputs an acceleration demand indicator for the transfer conveyor, the system increases the target speed of the transfer conveyor motor and simultaneously decreases the target speed of the scraper conveyor motor. When S3 outputs a deceleration demand indicator for the scraper conveyor, the system also increases the target speed of the transfer conveyor motor, but applies a stronger controlled deceleration to the scraper conveyor motor to weaken the feedback impact of unloading end resistance on chain tension. The increase in the target speed of the transfer conveyor is determined by the adjustment urgency weight, the allowable speed increase in the current cycle, and the load boundary pressure at the receiving port. The decrease in the target speed of the scraper conveyor is determined by the adjustment urgency weight, the allowable speed decrease in the current cycle, the equipment calibration ratio coefficient, and the chain tension boundary pressure. The equipment calibration ratio coefficient is used to characterize the matching strength between the scraper conveyor speed decrease and the transfer conveyor speed increase. Its initial value is determined by the transfer conveyor speed-discharge capacity calibration curve and the scraper conveyor speed-unloading flow rate calibration curve, and can be corrected online based on the feedback residual after the previous control cycle.

[0073] In one implementation, the setpoint value for the dual-machine linkage speed can be determined according to the following core control formula:

[0074]

[0075]

[0076]

[0077] in, The target speed output to the transfer conveyor frequency converter for the current control cycle. The target speed output to the frequency converter of the scraper conveyor in the current control cycle can be expressed in revolutions per minute or equivalent frequency setpoint. and These are the current actual rotational speeds of the two devices, respectively. and These represent the calculated target rotational speeds projected onto the current feasible operating domains of the transfer conveyor and the scraper conveyor, respectively. This refers to the allowable increase in rotational speed of the transfer machine within the current control cycle. This refers to the allowable reduction in speed of the scraper conveyor within the current control cycle. The adjustment urgency weight generated for S3 is a dimensionless quantity; This is the indicator value corresponding to the acceleration demand flag of the transfer machine. It is set to 1 if the flag exists, and 0 otherwise. This is the indicator value corresponding to the deceleration demand flag of the scraper conveyor; it is set to 1 if the flag exists, and 0 otherwise. Therefore, the system can perform different levels of deceleration control on the scraper conveyor while maintaining the speed increase of the transfer conveyor, depending on the type of demand.

[0078] in, The load boundary pressure factor at the material receiving port is a dimensionless quantity. When the load ratio of the transfer machine is close to the upper region of the stable load distribution under the same working conditions or close to the operating boundary of the design volume, this factor increases, thereby increasing the speed of the transfer machine accordingly. The chain tension boundary pressure factor is a dimensionless quantity. When the coal flow conveying power gradient or chain tension fluctuation approaches the rated tension operating boundary of the equipment, this factor increases, causing the scraper conveyor to decelerate at a correspondingly greater rate. and It is a dimensionless correction factor, which can be determined from field calibration samples or historical operation samples.

[0079] in, The proportional coefficient for equipment calibration in the current control cycle is a dimensionless quantity. During the equipment commissioning phase, the system records the discharge rate per unit time of the transfer conveyor at different stable speeds and the unloading rate per unit time of the scraper conveyor at different stable chain speeds. After converting both to coal flow rate units, the sensitivity ratio of speed change to flow rate change is calculated, yielding the desired result. The initial value. During operation, the system uses the residual load percentage of the transfer machine after the previous cycle to determine the initial value. and coal flow transport power gradient residual right Corrections are made; both residuals are dimensionless based on stable samples under the same operating conditions. If the load at the receiving port does not decrease sufficiently after the transfer machine speeds up and the coal flow power gradient remains high, the proportional coefficient is increased within the allowable range to ensure a more sufficient speed reduction of the scraper conveyor in the next cycle. If the load at the receiving port drops rapidly and the coal flow power gradient enters a stable distribution, the proportional coefficient is decreased within the allowable range to avoid long-term low-speed operation of the scraper conveyor.

[0080] Furthermore, the minimum safe operating boundary of the scraper conveyor is not a fixed empirical value, but is determined jointly by the rated speed, the minimum stable traction capacity of the chain, the continuous conveying requirements of the receiving port, and the downstream transportation interlock. In one embodiment, the minimum safe operating boundary is preferably not lower than 40% of the rated speed, and is corrected in conjunction with the lower limit of the stable traction of the chain calibrated on site; when the material has strong adhesion and the resistance at the receiving port is large, this lower limit can be appropriately increased, but it must not be lower than the safe traction boundary calibrated by the equipment. If the target speed of the scraper conveyor still reaches the minimum safe operating boundary after projection through the feasible region, and the dual-machine coordination matching degree continues to evolve negatively for at least two consecutive control cycles, while the load ratio of the transfer machine does not drop, then the system synchronously generates a traction speed reduction command for the coal mining machine, reducing the traction speed of the coal mining machine by the allowable speed reduction range, so that the coal cutting speed of the coal mining machine is rematched with the current transportation capacity. If the coal mining machine has reached its lower limit, the system will maintain the current minimum safe traction speed and continue to rely on the transfer conveyor to increase speed and the scraper conveyor to maintain coal flow balance at low speed, so as to avoid chutes, overflow or chain impact.

[0081] Once the target speed is calculated, the dual-machine collaborative controller sends the target speed to the frequency converters of the transfer conveyor and the scraper conveyor. During execution, it continuously collects actual speed, motor current, chain tension, chain speed, and material accumulation height at the receiving port. If, after execution, the load ratio of the transfer conveyor returns to a stable load distribution under the same working conditions, and the coal flow conveying power gradient no longer evolves along the abnormal direction, the system gradually restores the two devices to an operating state matching the current coal cutting speed of the mining machine according to the allowable slope. If, after execution, the collaborative matching degree curve continues to deviate from the dynamic judgment boundary, the system re-executes S1 to S3 in the next control cycle, and updates the linkage speed setpoint using new demand identifiers, adjusted urgency weights, boundary pressure factors, and feedback residuals. The resulting collaborative control execution not only achieves linkage speed regulation between the scraper conveyor and the transfer conveyor, but also avoids new process risks caused by the scraper conveyor being forced to operate at low speed for a long time under extreme working conditions through three-machine linkage protection.

[0082] In summary, the coordinated control method for the scraper conveyor and transfer conveyor based on the embodiments of the present invention is explained. It collects the chain tension sequence and chain speed of the scraper conveyor and the material level sequence at the transfer conveyor's inlet. Based on the adjacent tension difference and chain speed, it constructs a coal flow conveying power gradient with propagation time delay compensation. Based on the material level and design volume, it constructs the load ratio. Then, within the candidate time delay set, it performs sliding correlation calculations on the dual-machine state characteristics to generate a coordinated matching degree curve. Based on the curve slope and the dynamic boundary of historical stable operating conditions, it generates a speed regulation demand identifier. Finally, it coordinates the adjustment of the dual-machine speeds and triggers the coal mining machine to reduce speed when the scraper conveyor reaches its minimum stable speed. In this way, the coal flow output state at the unloading end can be extracted from the differences in tension spatial distribution, overcoming the shortcomings of traditional methods that cannot perceive the local coal flow distribution in the carrying section based on the total current. Simultaneously, the introduction of propagation time delay compensation eliminates control phase deviations caused by long-distance transportation, avoids overflow and idling caused by mismatch, and eliminates the impact load caused by sudden changes in unloading resistance of the chain. This improves the operational stability and reliability of the transportation system under complex operating conditions, ultimately enhancing the overall efficiency of the coal flow transportation system in the fully mechanized mining face.

[0083] Here, those skilled in the art will understand that the specific operations of each step in the above-described coordinated control system of the scraper conveyor and transfer machine have been referenced above. Figure 1 and Figure 2 The method for coordinated control of scraper conveyors and transfer machines has been described in detail in the previous section, and therefore, its repeated description will be omitted.

[0084] According to another aspect of the present invention, a coordinated control system for a scraper conveyor and a transfer conveyor is provided, comprising:

[0085] The data acquisition and state feature extraction module is used to collect the chain tension sequence, chain speed and material level sequence of each carrying section of the scraper conveyor and the material level sequence of the transfer machine receiving port. Based on the adjacent tension difference and chain speed, a coal flow conveying power gradient with belt propagation time delay compensation is constructed. Based on the material level and the design volume of the receiving port, a load ratio is constructed. The change rate of the coal flow conveying power gradient and the load ratio is normalized by sliding window to obtain the state features of the two machines.

[0086] The collaborative matching calculation module is used to calculate the collaborative matching degree curve of the two machines within the candidate propagation delay set based on the dual-machine state characteristics.

[0087] The trend diagnosis and identification generation module is used to generate an acceleration demand identifier for a transfer machine or a deceleration demand identifier for a scraper conveyor based on the curve slope and the dynamic boundary of historical stable operating conditions.

[0088] The coordinated speed control execution module is used to adjust the speed of the transfer conveyor motor and the scraper conveyor motor in conjunction with the identification and adjustment urgency weight, and to trigger the coal mining machine to reduce traction speed when the scraper conveyor reaches the minimum stable operating speed.

[0089] In summary, the coordinated control system of the scraper conveyor and transfer conveyor based on the embodiments of the present invention is explained. It collects the chain tension sequence and chain speed of the scraper conveyor and the material level sequence at the receiving port of the transfer conveyor. Based on the adjacent tension difference and chain speed, it constructs a coal flow conveying power gradient with propagation time delay compensation. Based on the material level and design volume, it constructs the load ratio. Then, within the candidate time delay set, it performs sliding correlation calculation on the dual-machine state characteristics to generate a coordinated matching degree curve. Based on the curve slope and the dynamic boundary of historical stable working conditions, it generates a speed regulation demand identifier. Finally, it coordinates and adjusts the speed of the two machines, triggering the coal mining machine to reduce speed when the scraper conveyor reaches its minimum stable speed. In this way, the coal flow output state at the unloading end can be extracted from the spatial distribution difference of tension, overcoming the shortcomings of traditional methods that cannot perceive the local coal flow distribution in the bearing section based on the total current. Simultaneously, the introduction of propagation time delay compensation eliminates control phase deviations caused by long-distance transportation, avoids overflow and idling caused by mismatch, and eliminates the impact load caused by sudden changes in unloading resistance of the chain. This improves the operational stability and reliability of the transportation system under complex working conditions, ultimately enhancing the overall efficiency of the coal flow transportation system in the fully mechanized mining face.

Claims

1. A method for coordinated control of a scraper conveyor and a transfer conveyor, characterized in that, include: Collect the chain tension sequence, chain speed, and material level sequence at the receiving port of the scraper conveyor in each carrying section. Construct a coal flow conveying power gradient with belt propagation time delay compensation based on the adjacent tension difference and chain speed. Construct the load ratio based on the material level and the design volume of the receiving port. Perform sliding window normalization on the change rate of the coal flow conveying power gradient and the load ratio to obtain the dual-machine state characteristics. Based on the dual-machine state characteristics, calculate the dual-machine cooperative matching degree curve within the candidate propagation delay set; Based on the curve slope and the dynamic boundary of historical stable operating conditions, an acceleration demand identifier for the transfer machine or a deceleration demand identifier for the scraper conveyor is generated. Based on the aforementioned identifier and adjustment urgency weight, the speed of the transfer conveyor motor and the scraper conveyor motor are adjusted in linkage, and the coal mining machine traction speed reduction is triggered when the scraper conveyor reaches the minimum stable operating speed.

2. The coordinated control method for scraper conveyor and transfer conveyor according to claim 1, characterized in that, The coal flow conveying power gradient is constructed by sequentially calculating the tension difference between adjacent tension measuring points along the coal flow direction of the scraper conveyor, multiplying the tension difference with the chain speed at the corresponding time, and then weighting and fusing the result according to the segment propagation time delay and the reliability of the measuring point. The result of the fusion is then subjected to inverse hyperbolic sine compression. The propagation delay of the segment is determined by the geometric distance from the adjacent measuring point to the unloading end and the current chain speed, and the reliability of the measuring point is determined by the over-range state, the packet loss state, and the consistency of the change direction of the adjacent measuring points.

3. The coordinated control method for scraper conveyor and transfer machine according to claim 2, characterized in that, Calculating the dual-machine cooperative matching degree curve includes: The components representing the state changes of the scraper conveyor and the components representing the state changes of the transfer machine are included in the dual-machine operating state feature vector. Then, sliding association calculations are performed on each candidate propagation delay set determined by the device geometric distance and the current chain speed, and the association results under each candidate delay are weighted and fused by soft selection weights. Subtracting the penalty term for candidate time delays that deviate from the physical propagation time, time-varying cooperative matching coefficients are generated and plotted as dual-machine cooperative matching degree curves in chronological order.

4. The coordinated control method for scraper conveyor and transfer conveyor according to claim 3, characterized in that, The time-varying cooperative matching coefficient is calculated as follows: in, Candidate propagation delay The sliding coefficient of cooperation under the following conditions The weights of the samples within the window. Candidate propagation delay The weighted mean of the normalized sequence of the rate of change of the power gradient in the coal flow transport. This is the weighted mean of the normalized sequence of the rate of change in the load ratio of transfer machines. and These are the components representing the state changes of the scraper conveyor and the components representing the state changes of the transfer machine in the dual-machine operating state feature vector, respectively. and These are the weighted means of the corresponding sequences. and It is a stable term.

5. The coordinated control method for scraper conveyors and transfer machines according to claim 4, characterized in that, Generating the transfer machine acceleration demand identifier or the scraper conveyor deceleration demand identifier includes: Retrieve the historical stable operating condition database, which includes the coordination matching degree curve, coal flow conveying power gradient, transfer machine load ratio and equipment operating parameters collected when there is no overflow at the material inlet, no obvious idling of the transfer machine, and no abnormal impact on the scraper conveyor chain. The historical stable samples were grouped according to the coal cutting speed of the coal mining machine, the chain speed of the scraper conveyor, and the rotation speed of the transfer machine. The slope distribution of the stable curve was extracted in each working condition group to form the upper dynamic judgment boundary and the lower dynamic judgment boundary. When the slope of the current fitted segment is outside the lower dynamic judgment boundary and the load ratio of the transfer machine continues to rise, a transfer machine acceleration demand identifier is generated. When the slope of the current fitted segment is outside the upper dynamic judgment boundary and the representative value of the coal flow conveying power gradient continues to increase relative to the stable baseline under the same working condition, a scraper conveyor deceleration demand identifier is generated.

6. The coordinated control method for scraper conveyor and transfer machine according to claim 5, characterized in that, The linkage adjustment of the transfer machine motor speed and the scraper conveyor motor speed is determined according to the type of the label to determine the linkage combination mode of the transfer machine acceleration and scraper conveyor deceleration, and the adjustment urgency weight uniformly adjusts the speed change range of the two. At the same time, the speed increase of the transfer machine and the deceleration of the scraper conveyor are corrected by the load boundary pressure of the material receiving port and the chain tension boundary pressure, respectively. The deceleration of the scraper conveyor is also adjusted by the equipment calibration proportional coefficient, thereby realizing differentiated and coordinated adjustment of the speed of the two machines.

7. The coordinated control method for scraper conveyor and transfer machine according to claim 6, characterized in that, The deceleration of the scraper conveyor is adjusted by the equipment's calibrated proportional coefficient as shown in the following formula: in, The proportional coefficient is calibrated for the equipment in the current control cycle. This indicates that the projection is made to the allowed range of values. This is a dimensionless correction factor. and These are the residual load ratio of the transfer machine and the residual power gradient of the coal flow after the execution of the previous control cycle, respectively.

8. A coordinated control system for a scraper conveyor and a transfer conveyor, characterized in that, include: The data acquisition and state feature extraction module is used to collect the chain tension sequence, chain speed and material level sequence of each carrying section of the scraper conveyor and the material level sequence of the transfer machine receiving port. Based on the adjacent tension difference and chain speed, a coal flow conveying power gradient with belt propagation time delay compensation is constructed. Based on the material level and the design volume of the receiving port, a load ratio is constructed. The change rate of the coal flow conveying power gradient and the load ratio is normalized by sliding window to obtain the state features of the two machines. The collaborative matching calculation module is used to calculate the collaborative matching degree curve of the two machines within the candidate propagation delay set based on the dual-machine state characteristics. The trend diagnosis and identification generation module is used to generate an acceleration demand identifier for a transfer machine or a deceleration demand identifier for a scraper conveyor based on the curve slope and the dynamic boundary of historical stable operating conditions. The coordinated speed control execution module is used to adjust the speed of the transfer conveyor motor and the scraper conveyor motor in conjunction with the identification and adjustment urgency weight, and to trigger the coal mining machine to reduce traction speed when the scraper conveyor reaches the minimum stable operating speed.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the coordinated control method for the scraper conveyor and transfer machine as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the coordinated control method for the scraper conveyor and the transfer machine as described in any one of claims 1 to 7.

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