CN107269275B - A kind of boom-type roadheader cutting arm slew rate adaptive control system and method - Google Patents
A kind of boom-type roadheader cutting arm slew rate adaptive control system and method Download PDFInfo
- Publication number
- CN107269275B CN107269275B CN201710452040.3A CN201710452040A CN107269275B CN 107269275 B CN107269275 B CN 107269275B CN 201710452040 A CN201710452040 A CN 201710452040A CN 107269275 B CN107269275 B CN 107269275B
- Authority
- CN
- China
- Prior art keywords
- cutting
- cutting arm
- acc
- slew rate
- oil cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005520 cutting process Methods 0.000 title claims abstract description 216
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 25
- 238000011161 development Methods 0.000 claims abstract description 33
- 239000003245 coal Substances 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 230000008859 change Effects 0.000 claims abstract description 23
- 230000005641 tunneling Effects 0.000 claims abstract description 19
- 239000003921 oil Substances 0.000 claims description 49
- 230000001133 acceleration Effects 0.000 claims description 24
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 230000004927 fusion Effects 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 13
- 230000010355 oscillation Effects 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 230000001351 cycling effect Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 239000010727 cylinder oil Substances 0.000 claims description 2
- 238000004880 explosion Methods 0.000 claims description 2
- 238000007500 overflow downdraw method Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
- 230000003993 interaction Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention discloses a kind of boom-type roadheader cutting arm slew rate adaptive control system and method, belongs to coal mine comprehensive digging equipment from leading control field.The system includes sensing and detection system；The airborne master control system of development machine；System actuator.During tunneling machine cutting coal wall, when coal petrography hardness changes, cutterhead load can also change, therefore the main working parameters of cutting units system also can correspondingly change.Sensing and detection system are measured in real time these running parameters and signal are passed to airborne master control system, airborne master control system handles the signal received and controls executing agency's movement, to reach the self adaptive control effect of cutting arm slew rate Yu institute's coal petrography cutting hardness real-time matching, to realize the full automation of tunneling machine cutting process in coal mine roadway driving.
Description
Technical field
The present invention relates to a kind of boom-type roadheader cutting arm slew rate adaptive control system and methods, belong to the comprehensive pick of coal mine
Equipment autonomously leads control field.
Background technique
Boom-type roadheader is the core equipment for realizing coal mine roadway headwork.In traditional underground passage tunneling process
In, most of development machine is the control of the machine manual operation, and development machine operator only relies on artificial observation and operating experience to adjust
Cutting arm slew rate, operational stability is low, and adjusting error is big, and working efficiency is low, and there are security risks, considerably increase mine work
Make the working strength and work risk of personnel.Robotization development machine long-distance intelligent control can be realized fully mechanized workface and lack people
Change or unmanned, keeps headwork safe and efficient.During tunneling machine cutting, due to coal petrography firmness change, the drive of constant speed swing
Dynamic oil cylinder will lead to that cutting section load is unstable, and cutting motor output power is unstable, easily make cutting motor and drive cylinder mistake
It carries, causes development machine structural member and electricity piece to damage, or easily cutting part of heading machine is made to be in lower working efficiency for a long time.
Publication No. " ZL200520090353.1 " patent name is " intelligent control system for tunneller cutting ", patent examination
Current Transformer of desiring to make money or profit detects cutting electric current, and as judgment basis, when cutting electric current becomes larger, control solenoid valve to
Reduce cutting arm slew rate.
Publication No. " CN205078272U " patent name is " a kind of cutting arm of tunneling machine automatic speed regulation system ".The patent
Current sensor detection cutting motor electric current is attempted to use, and as judgment basis, when cutting electric current becomes larger, is controlled electro-hydraulic
Proportioning valve adjusts flow and plays the protective effect to structural member and electricity piece to reduce cutting arm slew rate.
There are many something in commons for above-mentioned 2 kinds of methods, i.e. detection cutting electric current controls hydraulic valve as criterion, and works as cutting
The adjusting of cutting arm slew rate is carried out when motor load is excessive.But all there are many limitations in this 2 kinds of methods:
(1) criterion for carrying out the control of cutting arm slew rate is too single, can only roughly determine cutting arm loading condition, and do not have
Standby human-computer interaction function.
(2) it can not directly show or reflect cutting arm slew rate size, and control process is simpler, it cannot be guaranteed that cutting arm is put
Speed control precision, control effect cannot reach best.
(3) only consider the case where cutting arm load excessive leads to bored vehicle or structural member, electricity piece damage, do not consider cutting arm
Load it is too small cause cutting efficiency low, the case where development machine actuation redundancy, intelligence degree cannot reach best.
Summary of the invention
Technical problem: it is a primary object of the present invention to for current coal mine roadway fully mechanized workface actual conditions and pick
Into many disadvantages of cutting arm slew rate adjusting method in machine cutting course, a kind of cutting arm of tunneling machine slew rate self adaptive control is proposed
System and method, mainly include cutting arm slew rate self adaptive control Hardware Design, cutting arm slew rate ADAPTIVE CONTROL,
Cutting arm slew rate self-adaptation control method.It aims at cutting arm of tunneling machine slew rate and adjusts intelligent, tunneling machine cutting process machine
Device peopleization, fully mechanized workface lack peopleization or unmanned.
Technical solution: the object of the present invention is achieved like this: the system includes: sensing and detection system, detects cutting
Portion's system operational parameters are simultaneously real-time transmitted to the airborne master control system of development machine；The airborne master control system of development machine, processing is from sensing
With the signal of detection system, simultaneously transmission of control signals is generated；System actuator executes the control letter from airborne master control system
Number, it is acted accordingly.
The boom-type roadheader cutting arm slew rate adaptive control system, it is characterized in that: the development machine is airborne
Master control system includes programmable computer controller, intelligent industrial-control panel, scaling circuit plate；Wherein, programmable calculator
Controller and scaling circuit plate are encapsulated in development machine electric cabinet, and programmable computer controller and intelligent industrial-control panel are logical
It crosses communication interface to be connected, and realizes that real time bidirectional communicates；Programmable computer controller, which must have, to occupy little space, is easy to pull out
It inserts, have the characteristics that the software supervision of electrical contact, the industrial protection grade of intelligent industrial-control panel surface is at least IP65, violent
Can be safe and reliable in vibration, panel operation mode is touch-screen type, and memory capacity is expansible.
The boom-type roadheader cutting arm slew rate adaptive control system, it is characterized in that: the sensing and detection
System includes 2 cylinder displacement sensors, is separately mounted to inside revolution driving oil cylinder and goes up and down inside drive cylinder；2 oil
Cylinder pressure transducer, respectively detect revolution driving oil cylinder working-pressure and lifting drive cylinder pressure, two oil cylinders oil outlet with
4 measuring points are arranged between balanced valve, between oil inlet and balanced valve altogether；3 current transducers detect the three of cutting motor respectively
Electric current, and be converted into voltage signal and be delivered continuously to computer and be averaged to be compared with rated current；2 vibrations accelerate
Sensor is spent, the cutting arm vibration signal of the different directions close to cutterhead position is acquired；All sensings and detection device are equal
For mine anti-explosion or intrinsically safe equipment, all sensings pass through with detection device interface circuit or amplifying circuit with it is airborne
Programmable computer controller in master control system is connected, and realizes real time communication.
The boom-type roadheader cutting arm slew rate adaptive control system, it is characterized in that: the executing agency wraps
2 groups of electrohydraulic proportional directional valves, specially load-sensitive formula proportional multi-path reversing valve are included, are mounted in development machine control box；Cutting
Arm swing mechanism；Cutting motor.
The boom-type roadheader cutting arm slew rate self-adaptation control method, it is characterized in that:
(1) cutting arm of tunneling machine carries out cutting to default slew rate under normality, senses cutting corresponding with detection system detection
Signal is real-time transmitted to airborne master control system and handled by portion's system operational parameters, and in a manner of the data of real-time update
It is shown on intelligent industrial-control panel.
(2) the oil cylinder displacement data that cylinder displacement sensor measures is transferred in programmable computer controller, according to oil
Cylinder displacement data calculates spatial position and the cutting arm slew rate of cutterhead；Above-mentioned calculated result is finally on intelligent industrial-control panel
It is shown in a manner of the data of real-time update and image.
(3) when coal petrography hardness changes, cutterhead load also can correspondingly change.According to cutting arm slew rate,
Mathematical relationship between cutting electric current and coal petrography hardness, cutting electric current can correspondingly be changed with positive correlation；According to cut
The mathematical relationship between load and drive cylinder pressure is cut, drive cylinder pressure can correspondingly be become with positive correlation
Change；According to correlative study, the cutting arm vibration acceleration at cutterhead can correspondingly be changed with positive correlation.Structure
Strategy of data fusion is built, by cutting electric current, three variables of drive cylinder pressure and cutting arm vibration acceleration carry out data fusion
A best initial weights are obtained, the criterion determined as coal petrography firmness change；By specified cutting electric current, drive cylinder nominal operation pressure
Power and cutting arm vibration acceleration empirical value carry out data fusion and obtain the calibration value of above-mentioned best initial weights.
(4) PID control method is used, best initial weights are compared with its calibration value, control load-sensitive formula ratio is more
Way reversing valve is acted, and is changed drive cylinder change in displacement rate by changing oil liquid flow, is adjusted cutting arm slew rate.Once
After the completion of control instruction executes, updated best initial weights are compared with its calibration value, if deviation is in established standards range
Interior, cutting arm carries out cutting with slew rate at this time；If deviation exceeds established standards range, above-mentioned control process is continued cycling through,
Until deviation is reduced within the scope of established standards, cutting arm carries out cutting with slew rate at this time.
(5) no matter cutting arm of tunneling machine is horizontal hunting cutting or vertical oscillation cutting, cutting arm slew rate control method
It is above-mentioned control method and process with process, cutting arm slew rate is adapted with coal petrography hardness always, to realize that development machine is cut
Arm slew rate self adaptive control is cut, development machine is made to carry out cutting work always with peak efficiency.
Boom-type roadheader cutting arm slew rate adaptive control system and method for the present invention and existing cutting arm slew rate are adjusted
Method comparison, has clear advantage and beneficial effect.By above-mentioned technical proposal, boom-type roadheader provided by the invention is cut
It cuts arm slew rate adaptive control system and method can reach comparable technical progress and practicability, and with extensive in industry
Utility value at least has the advantage that
(1) present invention is using its sensing and detection system, and cutting arm is negative during capable of being accurately judged to tunneling machine cutting
Situation, and the data that can be detected according to sensor are carried, spatial position and the cutting arm slew rate of cutterhead are accurately calculated.
(2) present invention utilizes its airborne master control system, is not only able to achieve cutting arm slew rate and adjusts intellectually and automatically, and
And it is able to achieve human-computer interaction function, facilitate technical staff to carry out manual control development machine when necessary.
(3) boom-type roadheader cutting arm slew rate self-adaptation control method of the present invention, passes through Multi-parameter data fused controlling
Strategy and feedback cycle control process, can guarantee the high-precision and high efficiency of the control of cutting arm of tunneling machine slew rate.
(4) boom-type roadheader cutting arm slew rate adaptive control system and method for the present invention, can not only realize cutting
Cutting arm slew rate reduction of speed control when cutting arm load excessive in the process realizes that the protection to development machine structural member and electricity piece is made
With and being able to achieve cutting arm slew rate rising film condensation when cutting arm loads too small, guarantee expiring for cutting motor and drive cylinder
Constant power output is loaded, development machine is made to carry out cutting always with peak efficiency.
In conclusion boom-type roadheader cutting arm slew rate adaptive control system of the present invention and method are, it can be achieved that driving
The full automation that cutting arm of tunneling machine slew rate is adjusted in the process, the realization for development machine from leading control are paved the way, are subtracted significantly
The light working strength and operating pressure of development machine operator, or even the danger that development machine operator is worked from tunnelling
It is freed in danger.The system is suitable for the biggish fully mechanized workface of coal petrography firmness change, for technology people of the same trade now
Many saving graces are all had for member, and there is innovative and technical progress really.Not only there is very high economic value,
And there is good social value.
It is basic conception of the invention as described above.But in technical field of the invention, as long as having most basic
Knowledge can improve other operable embodiments of the invention.Substantial technical scheme is proposed in the present invention
Patent protection request, protection scope should include all variation patterns with above-mentioned technical characterstic.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Detailed description of the invention
In figure:
Fig. 1 is structure of the invention composition schematic diagram
Fig. 2 is present system figure
Fig. 3 is airborne master control system installation site figure
Fig. 4 is each sensing and detection device installation site figure
Fig. 5 is cutting arm cutting course mechanism two dimension schematic diagram
Fig. 6 is cutting arm slew rate control program figure
1: airborne master control system 2: sensing and detection system
3: executing agency 4: intelligent industrial-control panel
5: programmable computer controller 6: scaling circuit plate
7: current transducer 8: current transducer
9: current transducer 10: cylinder displacement sensor
11: cylinder displacement sensor 12: oil cylinder working-pressure sensor
13: oil cylinder working-pressure sensor 14: vibration acceleration sensor
15: vibration acceleration sensor
16: load-sensitive formula proportional multi-path reversing valve
17: load-sensitive formula proportional multi-path reversing valve
18: revolution driving oil cylinder 19: lifting drive cylinder
20: development machine electric cabinet 21: development machine control box
22: cutting motor
Specific embodiment
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, to boom-type roadheader cutting arm slew rate adaptive control system proposed according to the present invention and its side
Specific embodiment, structure, feature and its effect of method, detailed description is as follows.
For the present invention aforementioned and other technology contents, feature and effect refer to the preferable reality of schema in following cooperation
Applying in the detailed description of example can clearly appear from.By the explanation of specific embodiment, when predetermined mesh can be reached to the present invention
The technical means and efficacy taken be able to more deeply and it is specific understand, however institute's accompanying drawings are only to provide with reference to and say
It is bright to be used, it is not intended to limit the present invention.
The boom-type roadheader cutting arm slew rate adaptive control system and its method of present pre-ferred embodiments, such as Fig. 2
It is shown, it is made of airborne master control system 1, sensing with detection system 2, system actuator 3；Wherein, airborne master control system includes
Intelligent industrial-control panel 4, programmable computer controller 5, scaling circuit plate 6；Sensing and detection system include electric current pick-up
Device (7,8,9), cylinder displacement sensor (10,11), oil cylinder working-pressure sensor (12,13), vibration acceleration sensor (14,
15)；System actuator includes load-sensitive formula proportional multi-path reversing valve (16,17), revolution driving oil cylinder 18, lifting driving oil
Cylinder 19.
As shown in figure 3, intelligent industrial-control panel 4 is mounted on development machine operation portion, facilitate carry out human-computer interaction, may be programmed and calculate
Machine controller 5 and scaling circuit plate 6 are encapsulated in development machine electric cabinet 20, load-sensitive formula proportional multi-path reversing valve (16,
17) it is mounted in development machine control box 21；Programmable computer controller 5 and intelligent industrial-control panel 4 can realize that real time bidirectional is logical
Letter, load-sensitive formula proportional multi-path reversing valve (16,17) are connect with scaling circuit plate 6 by interface circuit.
As shown in Fig. 4 (a), cylinder displacement sensor 10 is mounted on inside revolution driving oil cylinder 18, oil cylinder working-pressure sensor
12 are mounted on outside 18 cylinder barrel of revolution driving oil cylinder, and between oil inlet and balanced valve, 2 are arranged between oil outlet and balanced valve
Measuring point；As shown in Fig. 4 (b), cylinder displacement sensor 11 is mounted on inside lifting drive cylinder 19, and oil cylinder working-pressure sensor 13 is pacified
Outside lifting 19 cylinder barrel of drive cylinder, 2 surveys are arranged between oil inlet and balanced valve, between oil outlet and balanced valve
Point；As shown in Fig. 4 (c), current transducer (7,8,9) is mounted on cutting motor 22, and vibration acceleration sensor 14 is mounted on
On cutting arm left side plane at cutterhead, vibration acceleration sensor 15 is arranged close to flat on the downside of cutting arm at cutterhead
On face；Above-mentioned all the sensors can realize real time communication with programmable computer controller 5.
As shown in Fig. 5 (a), when cutting arm of tunneling machine is vertical and cuts into designed drift section, with cutting at this time
Cephalic par vertex and coal wall contact point O are origin, establish plane right-angle coordinate, development machine is a drift section cutting period
In, cutterhead does plane motion in coordinate system XOY, the spatial position of cutterhead can with cutting cephalic par apex coordinate O ' (x,
Y) it indicates.
As shown in Fig. 5 (b), the revolving platform centre of gyration is o；Right side cylinder rod and revolving platform hinge joint are A, cylinder tube and sheet
Body frame hinge joint is B；Left side cylinder tube and body frame hinge joint are C, and cylinder rod and revolving platform hinge joint are D.When cutting arm hangs down
Directly when designed drift section, revolution driving length of oil cylinder is L1, the revolving platform centre of gyration to cylinder tube and body frame are cut with scissors
The distance of contact is OB=OC=L2, revolving platform radius of gyration OA=OD=r, the revolving platform centre of gyration to cutting cephalic par vertex
Distance oO '=Lx.Assuming that the displacement that cylinder displacement sensor 10 detects revolution driving oil cylinder is l in cutting course1, cutting arm
Horizontal pivot angle is γ, at this point, cylinder rod and revolving platform hinge joint are D '.
As shown in Fig. 5 (c), cutting arm and revolving platform hinge joint are o ', and cylinder tube and revolving platform hinge joint are E, cylinder rod
It is F with cutting arm hinge joint；When cutting arm is perpendicular to designed drift section, lifting drive cylinder length is EF=L3,
Cutting arm is o ' E=L with revolving platform hinge joint to cylinder tube and revolving platform hinge joint distance4, cutting arm and revolving platform hinge joint
It is o ' F=L to cylinder rod and cutting arm hinge joint distance5, cutting arm and revolving platform hinge joint to cutting cephalic par vertex away from
From o ' O '=Ly；Assuming that the displacement of the detection lifting drive cylinder of cylinder displacement sensor 11 is l in cutting course2, cutting arm hang down
Straight inclination angle is λ, at this point, cylinder rod and cutting arm hinge joint are projected as F ' on perpendicular.
Each angle in Fig. 5 (b) and Fig. 5 (c) are as follows:
Abscissa of the cutterhead in coordinate system XOY are as follows:
Ordinate of the cutterhead in coordinate system XOY are as follows:
To sum up, coordinate of the cutterhead in coordinate system XOY are as follows:
The sampling period of cylinder displacement sensor (10,11) is Δ T, within a sampling period, revolution driving oil cylinder 18
Displacement is Δ l1, the lifting displacement of drive cylinder 19 is Δ l2, the horizontal pivot angle of cutting arm is Δ γ, and vertical dip angle is Δ λ, then cutting
The angular speed of arm horizontal hunting are as follows:
The angular speed of cutting arm vertical oscillation are as follows:
The spatial positional information and cutting arm slew rate information of cutterhead are in a manner of the data of real-time update and image in intelligence
It can be shown on industry control panel.
The rated current of cutting motor is I0, the cutting motor three-phase current measured to current transducer (7,8,9) asks equal
Value, as cutting electric current are I；The rated operating pressure of revolution driving oil cylinder is P01, oil cylinder that oil cylinder working-pressure sensor 12 measures
Pressure is P1；The rated operating pressure for going up and down drive cylinder is P02, the oil cylinder working-pressure that oil cylinder working-pressure sensor 13 measures is P2；Vibration
The cutting arm vibration acceleration that dynamic acceleration transducer 14 measures is Acc1, empirical value Acc01；Vibration acceleration sensor 15
The cutting arm vibration acceleration measured is Acc2, empirical value Acc02。
Strategy of data fusion is constructed, to I, P1, Acc1Data fusion is carried out, best initial weights W is obtained1(I, P1, Acc1)；To I,
P2, Acc2Data fusion is carried out, best initial weights W is obtained2(I, P2, Acc2)；To I0, P01, Acc01Data fusion is carried out, is obtained most
Excellent weight calibration value W01(I0, P01, Acc01)；To I0, P02, Acc02Data fusion is carried out, best initial weights calibration value W is obtained02(I0,
P02, Acc02).Data fusion method is as follows:
Wherein, k1, m1, n1Respectively cutting arm horizontal hunting cutting when cutting electric current, revolution driving oil cylinder working-pressure, cut
The fusion for cutting arm vibration acceleration influences coefficient；k2, m2, n2Respectively cutting arm vertical oscillation cutting when cutting electric current, lifting
The fusion of drive cylinder pressure, cutting arm vibration acceleration influences coefficient.
Using PID control method, when cutting arm horizontal hunting cutting, by best initial weights W1(I, P1, Acc1) hard as coal petrography
The criterion that degree variation determines, with its standard value W01(I0, P01, Acc01) be compared, by its deviation e1As the defeated of PID control
Enter；When cutting arm vertical oscillation cutting, by best initial weights W2(I, P2, Acc2) as coal petrography firmness change determine criterion, with it
Standard value W02(I0, P02, Acc02) be compared, by its deviation e2Input as PID control.
Wherein, e1=W1(I, P1, Acc1)-W01(I0, P01, Acc01)
e2=W2(I, P2, Acc2)-W02(I0, P02, Acc02)
The implementation steps of boom-type roadheader cutting arm slew rate adaptive control system and method are as follows:
(1) cutting arm of tunneling machine carries out cutting to default slew rate under normality, senses cutting corresponding with detection system detection
Signal is real-time transmitted to airborne master control system and handled by portion's system operational parameters, and in a manner of the data of real-time update
It is shown on intelligent industrial-control panel.
(2) the revolution driving oil cylinder and lifting drive cylinder displacement data measured according to cylinder displacement sensor (10,11),
Using above-mentioned calculation method, the spatial position O ' (x, y) and cutting arm swing speed ω of cutterhead are calculated1, ω2, and in intelligence
It is shown in a manner of the data of real-time update and image on industry control panel.
(3) as shown in fig. 6, real-time judge compares W by taking cutting arm horizontal hunting cutting as an example1/W01Value, if 0.9≤
W1/W01≤ 1, then cutting arm is swung at full speed；If W1/W01< 0.9 then starts pid control module, improves cutting arm slew rate；If W1/
W01> 1 then starts pid control module, reduces cutting arm slew rate.Similarly, when cutting arm vertical oscillation cutting, control program is also
So.All control commands are provided by programmable computer controller, are transferred to execution machine by scaling circuit plate
Structure, control load-sensitive formula proportional multi-path reversing valve are acted, and adjust cutting arm by way of changing oil cylinder oil liquid flow
Swing speed.
(4) by taking cutting arm horizontal hunting cutting as an example, after the completion of a control instruction execution, continue after judging to compare update
W1/W01Value, if 0.9≤W1/W01≤ 1, then cutting arm carries out cutting with slew rate at this time；If W1/W01< 0.9 or W1/W01
> 1 then continues cycling through the control process in (3), until reaching 0.9≤W1/W01≤ 1, cutting arm is cut with slew rate at this time
It cuts.Similarly, cutting arm vertical oscillation cutting is also such.
(5) no matter cutting arm of tunneling machine is horizontal hunting cutting or vertical oscillation cutting, cutting arm slew rate control method
It is above-mentioned control method and process with process, cutting arm slew rate is adapted with coal petrography hardness always, to realize that development machine is cut
Arm slew rate self adaptive control is cut, development machine is made to carry out cutting work always with peak efficiency.
The boom-type roadheader cutting arm slew rate adaptive control system and method for the present invention that above-mentioned such structure is constituted
Technological innovation all has many saving graces for the technical staff in same domain now, and has technological progress really
Property.
It is basic conception of the invention as described above.But in technical field of the invention, as long as having most basic
Knowledge can improve other operable embodiments of the invention.Substantial technical scheme is proposed in the present invention
Patent protection request, protection scope should include all variation patterns with above-mentioned technical characterstic.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (3)
1. a kind of boom-type roadheader cutting arm slew rate for boom-type roadheader cutting arm slew rate adaptive control system is certainly
Adaptive control method, the boom-type roadheader cutting arm slew rate adaptive control system include sensing and detection system, detection
Cutting units system operational parameters are simultaneously real-time transmitted to the airborne master control system of development machine；The airborne master control system of development machine, processing come from
The signal of sensing and detection system generates simultaneously transmission of control signals；System actuator executes the control from airborne master control system
Signal processed, is acted accordingly；It is characterized in that: the sensing and detection system include 2 cylinder displacement sensors, respectively
It is mounted on inside revolution driving oil cylinder and goes up and down inside drive cylinder；2 oil cylinder working-pressure sensors detect revolution driving oil respectively
Cylinder pressure and lifting drive cylinder pressure；3 current transducers, detect the three-phase current of cutting motor respectively, and are converted into electricity
Pressure signal is delivered continuously to computer and is averaged；2 vibration acceleration sensors acquire the not Tongfang close to cutterhead position
To cutting arm vibration signal；All sensings and detection device are mine anti-explosion or intrinsically safe equipment, all biographies
Sense passes through interface circuit or amplifying circuit with detection device and is connected with the programmable computer controller in airborne master control system
It connects, and realizes real time communication；
The described method includes:
(1) cutting arm of tunneling machine carries out cutting to default slew rate under normality, senses cutting units system corresponding with detection system detection
System running parameter, is real-time transmitted to airborne master control system for signal and handles, and in intelligence in a manner of the data of real-time update
It can be shown on industry control panel；
(2) the oil cylinder displacement data that cylinder displacement sensor measures is transferred in programmable computer controller, according to oil cylinder position
Move spatial position and cutting arm slew rate that data calculate cutterhead；Above-mentioned calculated result is finally with reality on intelligent industrial-control panel
The data of Shi Gengxin and the mode of image are shown；
(3) when coal petrography hardness changes, cutterhead load also can correspondingly change；According to cutting arm slew rate, cutting
Mathematical relationship between electric current and coal petrography hardness, cutting electric current can be correspondingly to occur with the positively related relationship of coal petrography firmness change
Variation；According to the mathematical relationship between cutterhead load and drive cylinder pressure, drive cylinder pressure can be to become with coal petrography hardness
Change positively related relationship correspondingly to change；Cutting arm vibration acceleration at the cutterhead can with coal petrography firmness change
Positively related relationship correspondingly changes；Strategy of data fusion is constructed, by cutting electric current, drive cylinder pressure and cutting arm vibration
Dynamic three variables of acceleration carry out data fusion and obtain a best initial weights, the criterion determined as coal petrography firmness change；By volume
Determine cutting electric current, drive cylinder rated operating pressure and cutting arm vibration acceleration empirical value carry out data fusion obtain it is above-mentioned most
The calibration value of excellent weight；
The rated current of cutting motor is I0, average to the cutting motor three-phase current that current transducer measures, as cutting electricity
Stream is I；The rated operating pressure of revolution driving oil cylinder is P01, the oil cylinder working-pressure that oil cylinder working-pressure sensor measures is P1；Lifting is driven
The rated operating pressure of dynamic oil cylinder is P02, the oil cylinder working-pressure that oil cylinder working-pressure sensor measures is P2；Vibration acceleration sensor is surveyed
The cutting arm vibration acceleration in the horizontal direction obtained is Acc1, empirical value Acc01；What vibration acceleration sensor measured cuts
It is Acc that arm, which is cut, in the vibration acceleration of vertical direction2, empirical value Acc02；
Strategy of data fusion is constructed, to I, P1, Acc1Data fusion is carried out, best initial weights W is obtained1(I, P1, Acc1)；To I, P2,
Acc2Data fusion is carried out, best initial weights W is obtained2(I, P2, Acc2)；To I0, P01, Acc01Data fusion is carried out, optimal power is obtained
It is worth calibration value W01(I0, P01, Acc01)；To I0, P02, Acc02Data fusion is carried out, best initial weights calibration value W is obtained02(I0, P02,
Acc02)；Data fusion method is as follows:
Wherein, k1, m1, n1Respectively cutting arm horizontal hunting cutting when cutting electric current, revolution driving oil cylinder working-pressure, cutting arm
The fusion of vibration acceleration influences coefficient；k2, m2, n2Respectively cutting arm vertical oscillation cutting when cutting electric current, lifting driving
The fusion of oil cylinder working-pressure, cutting arm vibration acceleration influences coefficient；
(4) PID control method is used, best initial weights are compared with its calibration value, control load-sensitive formula proportional multi-path changes
It is acted to valve, changes drive cylinder change in displacement rate by changing oil cylinder oil liquid flow, adjust cutting arm slew rate；Once
After the completion of control instruction executes, updated best initial weights are compared with its calibration value, if deviation is in established standards range
Interior, cutting arm carries out cutting with slew rate at this time；If deviation exceeds established standards range, above-mentioned control process is continued cycling through,
Until deviation is reduced within the scope of established standards, cutting arm carries out cutting with slew rate at this time；
When cutting arm horizontal hunting cutting, by best initial weights W1(I, P1, Acc1) as coal petrography firmness change determine criterion, with
Its standard value W01(I0, P01, Acc01) be compared, by its deviation e1Input as PID control；Cutting arm vertical oscillation cutting
When, by best initial weights W2(I, P2, Acc2) as coal petrography firmness change determine criterion, with its standard value W02(I0, P02, Acc02)
It is compared, by its deviation e2Input as PID control；
Wherein, e1=W1(I, P1, Acc1)-W01(I0, P01, Acc01)
e2=W2(I, P2, Acc2)-W02(I0, P02, Acc02)；
(5) no matter cutting arm of tunneling machine is horizontal hunting cutting or vertical oscillation cutting, cutting arm slew rate control method and mistake
The above-mentioned control method of Cheng Junwei and process, cutting arm slew rate is adapted with coal petrography hardness always, to realize cutting arm of tunneling machine
Slew rate self adaptive control makes development machine carry out cutting work always with peak efficiency.
2. boom-type roadheader cutting arm slew rate self-adaptation control method according to claim 1, it is characterized in that: described
The airborne master control system of development machine includes programmable computer controller, intelligent industrial-control panel, scaling circuit plate；Wherein, may be used
Program calculation machine controller and scaling circuit plate are encapsulated in development machine electric cabinet, programmable computer controller and intelligence
Industry control panel is connected by communication interface, and realizes that real time bidirectional communicates；Programmable computer controller has occupied space
It is small, be easy to plug, have the characteristics that the software supervision of electrical contact, the industrial protection grade of intelligent industrial-control panel surface is at least
IP65, can be safe and reliable in high vibration, and panel operation mode is touch-screen type, and memory capacity is expansible.
3. boom-type roadheader cutting arm slew rate self-adaptation control method according to claim 1, it is characterized in that: described
System actuator includes 2 groups of electrohydraulic proportional directional valves, cutting arm swing mechanism and cutting motor, wherein electrohydraulic proportional directional valve
Specially load-sensitive formula proportional multi-path reversing valve is mounted in development machine control box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710452040.3A CN107269275B (en) | 2017-06-15 | 2017-06-15 | A kind of boom-type roadheader cutting arm slew rate adaptive control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710452040.3A CN107269275B (en) | 2017-06-15 | 2017-06-15 | A kind of boom-type roadheader cutting arm slew rate adaptive control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107269275A CN107269275A (en) | 2017-10-20 |
| CN107269275B true CN107269275B (en) | 2019-02-12 |
Family
ID=60066299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710452040.3A Active CN107269275B (en) | 2017-06-15 | 2017-06-15 | A kind of boom-type roadheader cutting arm slew rate adaptive control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107269275B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109653761B (en) * | 2019-02-19 | 2023-10-27 | 辽宁工程技术大学 | Double-cutting-part control system and method for excavating, supporting and anchoring combined unit |
| CN109812267B (en) * | 2019-03-29 | 2023-11-21 | 无锡华瀚能源装备科技有限公司 | Multi-perception intelligent cutting control system and control method for heading machine |
| CN111885825A (en) * | 2019-09-25 | 2020-11-03 | 中铁工程装备集团技术服务有限公司 | Circuit board for heading machine guide system control box and control box |
| CN110821509A (en) * | 2019-12-11 | 2020-02-21 | 辽宁工程技术大学 | Independently supplementary cut tunnelling analogue test device of excitation formula |
| CN111380522B (en) * | 2020-04-07 | 2022-06-28 | 中国煤炭科工集团太原研究院有限公司 | Navigation positioning and automatic cutting method of cantilever type tunneling machine |
| CN111911180B (en) * | 2020-08-06 | 2023-02-03 | 黑龙江科技大学 | Cutting mechanism of boom-type heading machine and control system thereof |
| CN111946340B (en) * | 2020-08-06 | 2022-05-03 | 西安科技大学 | Coal mine cantilever type heading machine cutting control method and system based on visual navigation |
| CN112454356A (en) * | 2020-11-12 | 2021-03-09 | 中国煤炭科工集团太原研究院有限公司 | Automatic control method and device for movement track of cantilever of heading machine |
| CN113062736A (en) * | 2021-03-29 | 2021-07-02 | 中国矿业大学 | Heading machine self-adaptive cutting system and method based on machine vision |
| CN114183158B (en) * | 2021-11-15 | 2023-09-01 | 中铁工程装备集团隧道设备制造有限公司 | Cantilever development machine motor protection control system and method |
| CN114233312B (en) * | 2021-11-17 | 2024-03-22 | 中铁工程装备集团隧道设备制造有限公司 | Free section cutting control system and control method of cantilever heading machine |
| CN115788477B (en) * | 2023-02-06 | 2023-05-30 | 太原理工大学 | Self-adaptive cutting control system and method for heading machine |
| CN116427923B (en) * | 2023-06-13 | 2023-09-05 | 三一重型装备有限公司 | Self-adaptive cutting method, system, heading machine, electronic equipment, medium and chip |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2133063A (en) * | 1982-12-31 | 1984-07-18 | Voest Alpine Ag | Protecting device for partial-cut cutting machines |
| CN2821631Y (en) * | 2005-04-18 | 2006-09-27 | 三一重型装备有限公司 | Intelligent control system for tunneller cutting |
| CN101215966A (en) * | 2007-01-05 | 2008-07-09 | 三一重型装备有限公司 | Tunneling machine cutting feed volume automatic control mode |
| CN201148868Y (en) * | 2007-12-26 | 2008-11-12 | 三一重型装备有限公司 | Development machine cutting portion |
| CN101713975A (en) * | 2008-10-08 | 2010-05-26 | 石家庄煤矿机械有限责任公司 | Intelligent control system for automatic cutting formation of tunneling |
| CN104500059A (en) * | 2014-12-01 | 2015-04-08 | 辽宁通用煤机装备制造股份有限公司 | Heading machine cutting part with high-strength telescoping mechanism |
| CN104929638A (en) * | 2015-07-03 | 2015-09-23 | 神华集团有限责任公司 | Underground auxiliary cutting system for heading machine |
| CN205078272U (en) * | 2015-10-26 | 2016-03-09 | 内蒙古北方重工业集团有限公司 | Entry driving machine cut arm automatic speed adjustment system |
-
2017
- 2017-06-15 CN CN201710452040.3A patent/CN107269275B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2133063A (en) * | 1982-12-31 | 1984-07-18 | Voest Alpine Ag | Protecting device for partial-cut cutting machines |
| CN2821631Y (en) * | 2005-04-18 | 2006-09-27 | 三一重型装备有限公司 | Intelligent control system for tunneller cutting |
| CN101215966A (en) * | 2007-01-05 | 2008-07-09 | 三一重型装备有限公司 | Tunneling machine cutting feed volume automatic control mode |
| CN201148868Y (en) * | 2007-12-26 | 2008-11-12 | 三一重型装备有限公司 | Development machine cutting portion |
| CN101713975A (en) * | 2008-10-08 | 2010-05-26 | 石家庄煤矿机械有限责任公司 | Intelligent control system for automatic cutting formation of tunneling |
| CN104500059A (en) * | 2014-12-01 | 2015-04-08 | 辽宁通用煤机装备制造股份有限公司 | Heading machine cutting part with high-strength telescoping mechanism |
| CN104929638A (en) * | 2015-07-03 | 2015-09-23 | 神华集团有限责任公司 | Underground auxiliary cutting system for heading machine |
| CN205078272U (en) * | 2015-10-26 | 2016-03-09 | 内蒙古北方重工业集团有限公司 | Entry driving machine cut arm automatic speed adjustment system |
Non-Patent Citations (3)
| Title |
|---|
| 基于PCC 的纵轴式掘进机自主截割控制***研究;王苏彧等;《煤炭工程》;20160711;第48卷(第6期);第132-135页 * |
| 掘进机截割臂摆速自动控制方法研究;高峰等;《掘进机截割臂摆速自动控制方法研究》;20110831(第8期);第38-40页 * |
| 王苏彧等.基于PCC 的纵轴式掘进机自主截割控制***研究.《煤炭工程》.2016,第48卷(第6期),第132-135页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107269275A (en) | 2017-10-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107269275B (en) | A kind of boom-type roadheader cutting arm slew rate adaptive control system and method | |
| US9376784B2 (en) | Control system for dual boom machine | |
| US8504251B2 (en) | Interference prevention control device of a machine | |
| CN102900121B (en) | A kind of hydraulic pump control for engineering machinery and method | |
| WO2012028027A1 (en) | Intelligent container-aligning system and container front-hanging crane provided with the system | |
| CN204938803U (en) | A kind of hydraulic crawler crane supporting leg leveling device | |
| CN102701077A (en) | System and method for controlling position of lifting hook of crane, as well as crane | |
| CN101866184A (en) | Hanging basket levelling control system | |
| US20180110190A1 (en) | Work vehicle gyroscopic boom control system and method | |
| CN104295543B (en) | Hybrid power engineering machinery composite move control method | |
| CN111943099A (en) | Energy-saving hydraulic system | |
| CN105927259A (en) | Two-column type hydraulic support pose detection and control system and application thereof | |
| CN105040697B (en) | SCM Based drop hammer type automatic pile driver control system | |
| EP2927177B1 (en) | Method and arrangement for controlling a crane | |
| CN103967474B (en) | Automatic positioning system of underground mining drill carriage | |
| CN105329613A (en) | Leveling control device for suspended telescopic belt | |
| CN112064699A (en) | Bucket automatic leveling control method and system based on oil cylinder stroke displacement | |
| CN209671325U (en) | Mating trailer wheels are to hydraulic control system after shield machine | |
| CN207672651U (en) | The system for controlling ridge buster equipment speed | |
| US10273124B2 (en) | Rotation control system for material handling machines | |
| CN212532225U (en) | Energy-saving hydraulic system | |
| CN112033658B (en) | System and method for testing supporting mechanism of drilling traction robot | |
| CN107587544A (en) | Control the system and method for control speed of ridge buster equipment speed | |
| CN104481567B (en) | Senseless hydraulic support electric-hydraulic control system and senseless hydraulic support electric-hydraulic control method | |
| Chakraborty et al. | Saving time by tip control & automation of knuckle and boom hydraulic crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |