Self-adaptive control method for loading and conveying of mining device based on variable-frequency drive

Abstract

The present invention belongs to the technical field of roadway tunneling. In order to solve the problem in existing loading and conveying systems of it being impossible to realize self-adaptive speed regulation by means of coal amount monitoring, provided is a self-adaptive control method for the loading and conveying of a mining device based on variable-frequency drive. The method comprises: acquiring a detection signal related to the amount of falling coal on a variable-frequency loading device; constructing a loading and conveying main control model, which outputs, on the basis of preset boundary conditions and the detection signal related to the amount of falling coal, a set value of an output signal of the variable-frequency loading device and a set value of an output signal of a variable-frequency conveying device; acquiring actual values of the output signals of the two variable-frequency devices; and constructing a loading control model and a conveying control model, wherein the loading control model controls, on the basis of a PID algorithm, the actual value of the output signal of the variable-frequency loading device to approach the set value of the output signal of the variable-frequency loading device, and the conveying control model controls, on the basis of the PID algorithm, the actual value of the output signal of the variable-frequency conveying device to approach the set value of the output signal of the variable-frequency conveying device. Therefore, self-adaptive speed regulation is realized, thereby reducing the failure rate of a mining device.

Description

An Adaptive Control Method for Transporting Mining Equipment Based on Variable Frequency Drive Technical Field

[0001] This invention belongs to the field of tunnel excavation technology, and particularly relates to an adaptive control method for transporting mining equipment based on variable frequency drive. Background Technology

[0002] Rapid tunneling systems based on integrated roadheader-anchor machines are currently the core equipment for rapid roadway excavation in coal mines. Current integrated roadheader-anchor machines use constant-speed drive for both loading and transport. However, for semi-coal and rock formations, the rock cutting speed is slow with a small loading capacity, while the coal cutting speed is fast with a large loading capacity. Constant-speed operation during loading and transport inevitably leads to unnecessary wear on the scraper and chain. Therefore, it is necessary to operate at idle speed when there is little material and at high speed when there is a large amount of material. Furthermore, during tunneling, there are adverse working conditions such as spalling and crossing faults. In these situations, the amount of coal dropped may be excessive or insufficient, causing the front-end loading mechanism's rake claws to become jammed or the rear-end transport mechanism's scraper chain to become stuck with rock cuttings, thus delaying the tunneling progress. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides an adaptive speed regulation method for the transport of mining equipment based on variable frequency drive.

[0004] This invention provides an adaptive control method for transporting mining equipment based on variable frequency drive, comprising:

[0005] Acquire detection signals related to the amount of coal falling from the variable frequency loading equipment;

[0006] A loading and unloading main control model is constructed. Based on preset boundary conditions and detection signals related to the amount of coal dropped, the loading and unloading main control model outputs the given values ​​of the output signals of the variable frequency loading equipment and the variable frequency transportation equipment.

[0007] Obtain the actual values ​​of the output signals of the variable frequency loading equipment and the variable frequency transport equipment;

[0008] A loading control model and a transportation control model are constructed. The loading control model uses a PID algorithm to control the actual value of the output signal of the variable frequency loading equipment to approximate the given value of the output signal of the variable frequency loading equipment. At the same time, the transportation control model uses a PID algorithm to control the actual value of the output signal of the variable frequency transportation equipment to approximate the given value of the output signal of the variable frequency transportation equipment.

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

[0010] The loading control model simultaneously acquires the actual value of the loading speed. Based on the PID algorithm, the loading control model controls the output of the loading frequency converter, so that the actual value of the loading speed output by the loading motor is close to the given value of the loading speed.

[0011] The transportation control model simultaneously acquires the actual value of the transportation speed. Based on the PID algorithm, the transportation control model controls the output of the transportation frequency converter, so that the actual value of the transportation speed output by the transportation motor is close to the given value of the transportation speed.

[0012] Optionally, the main control model for loading includes a staged controller. The staged controller detects the actual value of the loading active current in segments and outputs a given value of the loading speed for each segment of the actual value of the loading active current. The maximum value of the given value of the loading speed is 500-3000 r / min.

[0013] Optionally, the main control model for shipment also includes a continuous controller, which outputs a given value for the loading speed based on the actual value of the loading active current. The continuous controller is as follows:

[0014] N = 27.8I + 400

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

[0016] Optionally, the loading control model also acquires the actual value of the loading active current. When the actual value of the loading active current acquired by the loading control model is greater than 50A and the actual value of the loading speed is less than 100r / min, it is determined that the loading rake is stuck in coal and rock, a warning is issued, and the output of the loading frequency converter is stopped, thus stopping the loading operation.

[0017] Optionally, the transport control model also acquires the actual value of the transport current. When the actual value of the transport current acquired by the transport control model is greater than 50A and the actual value of the transport speed is less than 100r / min, it is determined that the scraper chain is stuck in coal and rock, a warning is issued, and the output of the transport frequency converter and the loading frequency converter are stopped, thus stopping the transport and loading operations.

[0018] Optionally, it also includes acquiring coal and rock cutting information, constructing a coal and rock identification model, obtaining the coal and rock status of the current roadway based on the coal and rock cutting information, and outputting preset boundary conditions. The preset boundary conditions can also be manually input based on the observation of the current roadway.

[0019] The coal and rock cutting information includes cutting vibration signal, cutting current signal, cutting traction speed, and cutting head position.

[0020] Optionally, the coal and rock identification model obtains the current roadway type, which includes coal roadways, rock roadways, and semi-coal and rock roadways. The preset boundary conditions are the boundary values ​​of loading speed and transport speed. The loading control model and transport control model adjust the boundary values ​​of loading speed and transport speed proportionally according to the proportion of coal and rock.

[0021] The technical solution provided by the embodiments of the present invention has the following beneficial effects compared with the prior art:

[0022] This invention provides an adaptive control method for the loading and unloading of mining equipment based on variable frequency drive. The method directly judges the amount of coal to be dropped based on the coal and rock identification model built into the cutting system and the actual value of the loading active current. The rotation speed of the variable frequency loading equipment and the variable frequency transport equipment is adjusted according to the magnitude of the actual value of the loading active current to achieve adaptive speed regulation, reduce the failure rate of mining equipment, improve production efficiency, reduce wear and tear on the loading and unloading system, and extend the service life of the loading and unloading system.

[0023] Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0025] 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, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 is a flowchart of an adaptive control method for transporting mining equipment based on frequency conversion drive according to an embodiment of the present invention;

[0027] Figure 2 is a schematic diagram of the segmented controller according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of the continuous controller according to an embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of the transport system according to an embodiment of the present invention;

[0030] Figure 5 is a structural schematic diagram of the loading system according to an embodiment of the present invention from another perspective;

[0031] Figure 6 is a schematic diagram of the loading system according to an embodiment of the present invention;

[0032] Figure 7 is a schematic diagram of the structure of the tail section of the transport aircraft according to an embodiment of the present invention.

[0033] The components include: 1. Loading motor; 2. Loading reducer; 3. Front transport trough; 4. Transport motor; 5. Transport reducer; 6. Loading rake; 7. Middle transport trough; and 8. Transport tail section.

[0034] Detailed Implementation

[0035] To better understand the above-mentioned objectives, features, and advantages of the present invention, the solutions of the present invention will be further described below. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0036] Many specific details are set forth in the following description in order to provide a full understanding of the invention, but the invention may also be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of the invention, and not all embodiments.

[0037] Referring to Figures 1 to 3, this embodiment provides an adaptive control method for the transportation of mining equipment based on variable frequency drive, including:

[0038] Acquire detection signals related to the amount of coal falling from the variable frequency loading equipment;

[0039] A loading and unloading main control model is constructed. Based on preset boundary conditions and detection signals related to the amount of coal dropped, the loading and unloading main control model outputs the given values ​​of the output signals of the variable frequency loading equipment and the variable frequency transportation equipment.

[0040] Obtain the actual values ​​of the output signals of the variable frequency loading equipment and the variable frequency transport equipment;

[0041] A loading control model and a transportation control model are constructed. The loading control model uses a PID algorithm to control the actual value of the output signal of the variable frequency loading equipment to approximate the given value of the output signal of the variable frequency loading equipment. At the same time, the transportation control model uses a PID algorithm to control the actual value of the output signal of the variable frequency transportation equipment to approximate the given value of the output signal of the variable frequency transportation equipment.

[0042] Furthermore, in this embodiment, the variable frequency loading device is a loading motor 1, the variable frequency transport device is a transport motor 4, the monitoring signal related to the amount of coal dropped is the loading active current, the main control model of loading outputs the given value of the loading speed to the loading control model, the main control model of loading outputs the given value of the transport speed to the transport control model; the loading control model simultaneously obtains the actual value of the loading speed, and the loading control model controls the output of the loading variable frequency controller based on the PID algorithm, so that the actual value of the loading speed output by the loading motor 1 is close to the given value of the loading speed; the transport control model simultaneously obtains the actual value of the transport speed, and the transport control model controls the output of the transport variable frequency controller based on the PID algorithm, so that the actual value of the transport speed output by the transport motor 4 is close to the given value of the transport speed. Specifically, this embodiment takes a tunneling and anchoring machine as an example. By acquiring the loading active current, the current material accumulation status on the shovel of the tunneling and anchoring machine can be determined. The loading active current is calculated from the loading apparent current and the power factor. That is, the loading apparent current and the power factor are acquired simultaneously. If the power factor is less than 0.8, the loading speed and transport speed are adjusted based on the power factor. When the power factor is greater than 0.8, the loading speed and transport speed are adjusted based on the loading apparent current, so that the loading motor 1 and the transport motor 4 operate in the constant torque range and prevent them from entering the constant power range. Specifically, when the actual value of the acquired loading active current increases, it is considered that there is material accumulation on the shovel. As the amount of material increases, the loading speed and transport speed are increased to remove the stockpile in a timely manner. When the actual value of the loading active current decreases, it is assumed that the material on the shovel has decreased, and the loading speed and transport speed are reduced to reduce system energy consumption and wear on the scraper conveyor and loading rake 6. The loading and transport main control model outputs the given value of the loading speed to the loading control model in a timely manner. When the given value of the transport speed output by the loading and transport main control model increases, it is sent to the transport control model in a timely manner. When the given value of the transport speed output by the loading and transport main control model decreases, it needs to be sent to the transport control model with a corresponding delay based on the current transport speed and scraper chain length.

[0043] Furthermore, the main control model for loading includes a staged controller. This staged controller detects the actual value of the loading active current in segments and outputs a setpoint for the loading speed corresponding to each segment's actual loading active current value. The maximum value of the setpoint for the loading speed is 500-3000 r / min. Referring to Figure 2, the staged controller detects the loading active current in two or more segments, typically 3-7 segments. When the machine model changes, and the maximum value of the setpoint for the loading speed decreases from 3000 r / min to 500 r / min, the setpoint for the loading speed output by each segment in the staged controller decreases proportionally. Specifically, the setpoint for the loading speed output by a segment in the staged controller is the average of the setpoints for the loading speeds of the next and previous segments. For instance, when the loading active current is found to be 5-10A, the loading speed... The setpoint for the loading speed is 400 r / min; when the active current of the load is 10-15A, the setpoint for the loading speed is 600 r / min; when the active current of the load is 15-20A, the setpoint for the loading speed is 800 r / min; when the active current of the load is 20-25A, the setpoint for the loading speed is 1000 r / min; when the active current of the load is 25-30A, the setpoint for the loading speed is 1200 r / min; and when the active current of the load is 30-35A, the setpoint for the loading speed is 1400 r / min.

[0044] Referring to Figure 3, the main control model for loading also includes a continuous controller. The continuous controller outputs a given value for the loading speed based on the actual value of the loading active current. Specifically, the given value for the loading speed increases linearly with the actual value of the loading active current obtained by the main control model for loading. For example, the continuous controller is N = 27.8I + 400, where N is the given value for the loading speed and I is the actual value of the loading active current.

[0045] Among them, the given value of the output transport speed of the main control model is the same as the given value of the output loading speed. Both include two types: staged controller and continuous controller. The range settings of the actual value of the transport current and the given value of the transport speed are the same as the range settings of the actual value of the loading active current and the given value of the loading speed.

[0046] In some embodiments, the loading control model also acquires the actual value of the loading active current. When the actual value of the loading active current acquired by the loading control model is greater than 50A and the actual value of the loading speed is less than 100r / min, it is determined that the loading rake 6 is stuck in coal and rock, a warning is issued, and the output of the loading frequency converter is stopped, thus stopping the loading operation. The transportation control model also acquires the actual value of the transportation current. When the actual value of the transportation current acquired by the transportation control model is greater than 50A and the actual value of the transportation speed is less than 100r / min, it is determined that the scraper chain is stuck in coal and rock, a warning is issued, and the output of the transportation frequency converter and the loading frequency converter is stopped, thus stopping the transportation and loading operations.

[0047] This control method also includes acquiring coal and rock cutting information, constructing a coal and rock identification model, obtaining the current coal and rock state of the roadway based on the coal and rock cutting information, and outputting preset boundary conditions. The preset boundary conditions can also be manually input based on the observation of the current roadway. The coal and rock cutting information includes cutting vibration signal, cutting current signal, cutting traction speed, and cutting head pose.

[0048] The coal and rock identification model obtains the current roadway type, which includes coal roadways, rock roadways, and semi-coal and rock roadways. The preset boundary conditions are the boundary values ​​of loading speed and transport speed. The loading control model and transport control model adjust the boundary values ​​of loading speed and transport speed proportionally according to the proportion of coal and rock. Specifically, the preset boundary conditions are the maximum and minimum loading speeds of the loading motor 1 and the transport speeds of the transport motor 4. The coal and rock identification model obtains the coal and rock state of the current roadway based on the cutting vibration signal, cutting current signal, cutting traction speed, and cutting head pose. When the current roadway is identified as a coal roadway, the maximum and minimum loading speeds and the maximum and minimum transport speeds are increased. When the current roadway is identified as a rock roadway, the maximum and minimum loading speeds and the maximum and minimum transport speeds are decreased. When the current roadway is identified as a semi-coal and semi-rock roadway, the maximum and minimum loading speeds and the maximum and minimum transport speeds are adjusted proportionally according to the proportion of coal and rock. In other words, when rock is cut, the amount of coal falling decreases, and the speed is reduced by decreasing the loading and transport speeds. When coal is cut, the amount of coal falling increases, and the speed is increased by increasing the loading and transport speeds.

[0049] In some embodiments, the loading motor 1 is provided with a loading current sensor and a loading power sensor, which are used to monitor the current and power of the loading motor 1, respectively; the transport motor 4 is provided with a transport current sensor and a transport power sensor, which are used to monitor the current and power of the transport motor 4, respectively.

[0050] This embodiment takes a tunneling and anchoring machine as an example. Referring to Figures 4 to 7, the loading section of this tunneling and anchoring machine consists of a main shovel, left and right telescopic shovels, left and right loading rakes 6, a loading motor 1, a loading reducer 2, a loading current sensor, and a loading power sensor. The star wheel is directly driven by the loading motor 1 and the loading reducer 2. The transportation section includes three parts: a front transportation trough 3, a middle transportation trough 7, and a transportation tail 8. The conveyor chain adopts a single-chain swing scraper conveyor chain. The conveyor chain is driven by two sets of transportation motors 4 and transportation reducers 5 jointly driving the sprocket. The transportation current sensor and the transportation power sensor are set in the transportation motor 4.

[0051] In this embodiment, both the loading motor 1 and the transport motor 4 are explosion-proof motors. The loading current sensor, loading power sensor, transport current sensor, and transport power sensor are integrated with the loading motor 1 and the transport motor 4 for explosion-proof treatment.

[0052] Of course, the adaptive control method for transporting mining equipment based on variable frequency drive provided in this embodiment is also applicable to mining equipment such as tunneling machines and continuous mining machines.

[0053] This embodiment provides an adaptive control method for the loading and unloading of mining equipment based on variable frequency drive. The method directly judges the amount of coal dropped based on the coal and rock identification model built into the cutting system and the acquired loading active current. The speed of the loading motor 1 and the transport motor 4 is adjusted according to the magnitude of the loading active current to achieve adaptive speed regulation, reduce the failure rate of mining equipment, improve production efficiency, reduce wear and tear on the loading and unloading system, and extend the service life of the loading and unloading system.

[0054] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0055] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. An adaptive control method for transporting mining equipment based on variable frequency drive, characterized in that, include: Acquire detection signals related to the amount of coal falling from the variable frequency loading equipment; A loading and unloading main control model is constructed. Based on preset boundary conditions and detection signals related to the amount of coal dropped, the loading and unloading main control model outputs the given values ​​of the output signals of the variable frequency loading equipment and the variable frequency transportation equipment. Obtain the actual values ​​of the output signals of the variable frequency loading equipment and the variable frequency transport equipment; A loading control model and a transportation control model are constructed. The loading control model uses a PID algorithm to control the actual value of the output signal of the variable frequency loading equipment to approximate the given value of the output signal of the variable frequency loading equipment. At the same time, the transportation control model uses a PID algorithm to control the actual value of the output signal of the variable frequency transportation equipment to approximate the given value of the output signal of the variable frequency transportation equipment.

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

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

4. The adaptive control method for transporting mining equipment based on variable frequency drive according to claim 3, characterized in that, The main control model for loading also includes a continuous controller, which outputs a given value for the loading speed based on the actual value of the loading active current. The continuous controller is as follows: N = 27.8I + 400 Where N is the given value of the loading speed, and I is the actual value of the loading active current.

5. The adaptive control method for transporting mining equipment based on variable frequency drive according to claim 4, characterized in that, The loading control model also obtains the actual value of the loading active current. When the actual value of the loading active current obtained by the loading control model is greater than 50A and the actual value of the loading speed is less than 100r / min, it is determined that the loading rake (6) is stuck in coal and rock, a warning is issued, and the output of the loading frequency converter is stopped, and the loading work is stopped.

6. The adaptive control method for transporting mining equipment based on variable frequency drive according to claim 4, characterized in that, The transportation control model also acquires the actual value of the transportation current. When the actual value of the transportation current acquired by the transportation control model is greater than 50A and the actual value of the transportation speed is less than 100r / min, it is determined that the scraper chain is stuck in coal and rock, and a warning is issued. At the same time, the output of the transportation frequency converter and the loading frequency converter are stopped, and the transportation and loading work is stopped.

7. The adaptive control method for transporting mining equipment based on variable frequency drive according to claim 1, characterized in that, It also includes acquiring coal and rock cutting information, constructing a coal and rock identification model, which obtains the coal and rock status of the current roadway based on the coal and rock cutting information, and outputs preset boundary conditions. The preset boundary conditions can also be manually input based on the observation of the current roadway. The coal and rock cutting information includes cutting vibration signal, cutting current signal, cutting traction speed, and cutting head position.

8. The adaptive control method for transporting mining equipment based on variable frequency drive according to claim 7, characterized in that, The coal and rock identification model obtains the current roadway type, which includes coal roadways, rock roadways, and semi-coal and rock roadways. The preset boundary conditions are the boundary values ​​of loading speed and transport speed. The loading control model and transport control model adjust the boundary values ​​of loading speed and transport speed proportionally according to the proportion of coal and rock.

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