CN112855152A - Control method of special towing system for coal mining machine - Google Patents
Control method of special towing system for coal mining machine Download PDFInfo
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- CN112855152A CN112855152A CN202110003811.7A CN202110003811A CN112855152A CN 112855152 A CN112855152 A CN 112855152A CN 202110003811 A CN202110003811 A CN 202110003811A CN 112855152 A CN112855152 A CN 112855152A
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- 239000003245 coal Substances 0.000 title claims abstract description 107
- 238000005065 mining Methods 0.000 title claims abstract description 104
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000001514 detection method Methods 0.000 claims abstract description 57
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000011217 control strategy Methods 0.000 claims description 6
- 230000001174 ascending effect Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 description 10
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
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- 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/04—Distributing means for power supply in mines
- E21F17/06—Distributing electric power; Cable networks; Conduits for cables
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention relates to a control method of a special towing cable system for a coal mining machine, which comprises the following control stages: before the coal mining machine is started in a traction manner, a power supply cable of the coal mining machine is tightened until the tension detection value of the power supply cable at the cable towing device enters a preset safe operation tension range; a streamer operating stage: the coal mining machine is started in a traction manner, the towing motor is started, the ratio of the moving speed of the towing device to the traction speed of the coal mining machine is controlled within a set range by controlling the rotating speed of the towing motor, and meanwhile, the power supply cable is kept in a tensioning state; and (3) a towing cable ending stage: the coal mining machine stops traction firstly, and then the towing device is controlled to release the power supply cable. The invention solves the problems that the power supply cable is stacked, separated from the cable groove and even blocked in the process of towing the cable, and realizes high reliability and automation of the towing cable in the working process of the coal mining machine.
Description
Technical Field
The invention relates to an automatic control method of a coal mining machine cable towing device.
Background
The power supply cable of the coal mining machine is a power source of the coal mining machine. When the coal mining machine works, the towing device tows the power supply cable of the coal mining machine to travel along with the machine body of the coal mining machine so as to ensure the power supply of the coal mining machine. Due to the complex working conditions, the power supply cable of the coal mining machine is easy to be stacked, separated from a cable trough and other abnormal conditions, even has the risk of being blocked and broken, and the production safety and the production efficiency are seriously influenced, so that coal miners are generally required to monitor and adjust the power supply cable of the coal mining machine in real time, a great deal of waste in manpower and material resources is caused, and the condition is particularly prominent in the coal mining operation of a thin coal seam.
Disclosure of Invention
The invention aims to provide a control method of a special towing cable system for a coal mining machine, which solves the problems that a power supply cable is stacked, is separated from a cable groove and is even blocked and broken in the towing process, and realizes high reliability and automation of the towing cable in the working process of the coal mining machine.
The main technical scheme of the invention is as follows:
a control method of a special towing cable system for a coal mining machine comprises the following control stages:
s1, streamer starting phase: before the coal mining machine is started in a traction manner, a towing cable motor is controlled by a towing cable frequency converter to drag a towing cable device, and a power supply cable of the coal mining machine is tightened until the tension detection value of the power supply cable at the towing cable device enters a preset safe operation tension range;
s2, streamer operation stage: the coal mining machine is started in a traction manner, the towing motor is started, the ratio of the moving speed of the towing device to the traction speed of the coal mining machine is controlled within a set range by controlling the rotating speed of the towing motor, meanwhile, the tension detection value of the power supply cable at the towing device is kept within the safe operation tension range, and the steering of the towing motor is controlled to change along with the change of the traction direction of the coal mining machine;
s3, streamer ending stage: the coal mining machine stops traction, and then the towing device is controlled to release the power supply cable until the tension detection value of the power supply cable at the position of the coal mining machine body enters a preset safe operation tension range.
In the towing cable operation stage, in the ascending process of the coal mining machine, the control strategy of the towing cable frequency converter preferably takes torque control as a main part and speed monitoring as an auxiliary part, and when the towing cable device is in an overspeed working state, the output torque of the towing cable frequency converter is reduced; and when the streamer device is in an underspeed working state, increasing the output torque of the streamer frequency converter.
Setting the towing speed of the coal mining machine as a reference speed V0, setting the towing speed of the coal mining machine as a normal working state when the moving speed of the towing device is in a range of 49% -51% of V0, setting the towing device in an overspeed working state when the moving speed of the towing device is higher than 51% of V0, and setting the towing device in an underspeed working state when the moving speed of the towing device is lower than 49% of V0.
In the towing cable operation stage, in the descending process of the coal mining machine, the control strategy of the towing cable frequency converter preferably takes torque control as a main part and tension monitoring as an auxiliary part, when the tension detection value of the power supply cable at the towing cable device is lower than the lower limit of the safe operation tension range, the output torque of the towing cable frequency converter is increased, and when the tension detection value of the power supply cable at the towing cable device is higher than the upper limit of the safe operation tension range, the output torque of the towing cable frequency converter is reduced.
In the towing cable running stage, when one of a tension detection value of a power supply cable at a coal mining machine body and a tension detection value of the power supply cable at a towing device is higher than a corresponding tension alarm threshold value, the control module controls the alarm device to immediately give an alarm, and when one of the tension detection value and the tension detection value is higher than a corresponding shutdown threshold value, the control module sends a shutdown command, the shutdown threshold value is higher than the tension alarm threshold value for the power supply cable at the same position, and the corresponding tension alarm threshold value is not lower than the upper limit of the safe running tension range for the power supply cable at the towing device.
And after the control module sends a stop command, the control module directly enters the streamer ending stage.
The method for controlling the streamer device to loosen the power supply cable is preferably as follows: when the coal mining machine stops towing according to the front and back of the towing direction of the coal mining machine, if the coal mining machine is in front of the towing device and behind the towing device, controlling the towing motor to delay for a certain time after the coal mining machine stops and then stop; and if the towing device is in front of the coal mining machine and behind the coal mining machine, controlling the motor of the towing cable to reversely rotate.
Tension detection values of the power supply cables at the coal mining machine body can be directly obtained by arranging a first tension detection module at the joint of the coal mining machine body and the power supply cables, and tension detection values of the power supply cables at the cable towing device can be indirectly obtained by arranging a second tension detection module at the joint of the cable towing motor and the cable towing chain.
The invention has the beneficial effects that:
the invention ensures that the towing device automatically and dynamically follows the coal mining machine to travel through the coordination of speed control, torque control and tension control, and the traveling speed is stably matched with the traction speed of the coal mining machine.
The invention avoids the power supply cable from being stacked or broken by controlling the timely and proper tensioning or loosening of the power supply cable before the towrope device advances and after the towrope device stops, greatly reduces the cost of manpower and material resources because the whole control process is automatically finished without manual monitoring and adjustment, and realizes high automation of the towrope in the working process of the coal mining machine.
Due to the fact that the tension detection module detects the tension of the power supply cable in real time and sets a plurality of threshold values related to the tension safety range of the power supply cable in different stages in the process of towing the cable, various possible abnormal states of the power supply cable can be detected, prevented and controlled, and high reliability of the towing cable in the working process of the coal mining machine is achieved.
Drawings
FIG. 1 is a flow chart schematic of a method of controlling a special streamer system for a coal mining machine of the present invention;
FIG. 2 is a schematic view of the power cable and tension detection module arrangement of the present invention;
FIG. 3 is a control flow diagram of the streamer startup phase;
FIG. 4 is a control flow diagram of the streamer phase of operation;
FIG. 5 is a control flow diagram for the streamer tail-out phase.
Reference numerals:
1. a coal mining machine; 2. a tension detection module (A1); 3. a coal mining machine power supply cable; 4. a streamer device; 5. a tension detection module (A2); 6. a streamer motor; 7. a streamer frequency converter.
Detailed Description
The invention discloses a special towline system control method for a coal mining machine (which can be called as a towline system control method for short), which comprises the following control stages as shown in figures 1-5:
s1, streamer starting phase: before the coal mining machine 1 is started in a traction manner, a towing cable motor 6 is controlled by a towing cable frequency converter 7 to drag a towing cable device 4, and a power supply cable 3 of the coal mining machine is automatically tightened until a tension detection value T2 of the power supply cable at the towing cable device enters a preset safe operation tension range;
s2, streamer operation stage: the coal mining machine is started in a traction manner, the towing motor is started, the ratio of the moving speed of the towing device to the traction speed of the coal mining machine is controlled within a set range by controlling the rotating speed of the towing motor, meanwhile, the tension detection value of the power supply cable at the towing device is kept within the safe operation tension range, and the steering of the towing motor is controlled to change along with the change of the traction direction of the coal mining machine;
s3, streamer ending stage: the coal mining machine stops traction, then the towing device is controlled to release the power supply cable until the tension detection value of the power supply cable at the position of the coal mining machine body enters a preset safety shutdown tension range, and the situation that the power supply cable is properly released is indicated, so that the cable is prevented from being broken when the coal mining machine or the towing device slides and the like. The streamer system is then shut down and the towing tail is over.
The implementation main body of the towing cable system control method is a control module, and the control target objects comprise a towing cable device, a towing cable motor, a towing cable frequency converter and a coal mining machine traction system.
In the streamer operation stage, a traction frequency converter close to the head side of the scraper conveyor is generally arranged as a master machine of master-slave control, and a streamer frequency converter and a traction frequency converter close to the tail side of the scraper conveyor are slave machines. The towing cable frequency converter and the traction frequency converter control the towing cable speed and the traction speed in real time. According to different stress characteristics of a power supply cable and a towing device when a coal mining machine ascends (is towed by a machine head to a machine tail direction) and descends (is towed by the machine tail to the machine head direction), the towing cable frequency converter respectively adopts different control logics.
In the towing cable operation stage, in the ascending process of the coal mining machine, the control strategy of the towing cable frequency converter preferably takes torque control as a main part and speed monitoring as an auxiliary part, and when the towing cable device is in an overspeed working state, the output torque of the towing cable frequency converter is reduced; and when the streamer device is in an underspeed working state, increasing the output torque of the streamer frequency converter. The speed monitoring is realized through a speed adjusting program, when the towing device is in an overspeed or underspeed working state, the speed adjusting program gives an output feedback signal with a corresponding size to a torque control program according to the degree of speed deviation from a normal working state, so that the output torque of a frequency converter is correspondingly adjusted, the output torque is changed, and the rotating speed of a towing motor is regulated and controlled, thereby keeping the moving speed of the towing device to stably follow the traction speed of the coal mining machine, and avoiding the moving speed of the towing device from being separated from a safety range.
The overspeed and underspeed are preferably set in the following ranges: setting the traction speed of the coal mining machine as a reference speed V0, regarding the towing device as a normal working state when the moving speed of the towing device is in a range of 49% -51% of V0, regarding the towing device as an overspeed working state when the moving speed of the towing device is higher than 51% of V0, and regarding the towing device as an underspeed working state when the moving speed of the towing device is lower than 49% of V0.
The control module may control the warning device to issue a speed anomaly warning when the streamer device is in an over-speed or under-speed operating state.
In the towing cable operation stage, in the descending process of the coal mining machine, the control strategy of the towing cable frequency converter preferably takes torque control as a main part and tension monitoring as an auxiliary part, and when the tension detection value T2 of the power supply cable at the towing cable device is lower than the lower limit of the safe operation tension range, the output torque of the towing cable frequency converter is increased; when the tension detection value T2 of the power supply cable at the streamer device is higher than the upper limit of the safe operation tension range, the output torque of the streamer frequency converter is reduced. Therefore, the tension of the power supply cable is controlled within a safe range, and the dangerous situations such as cable stacking or breaking are avoided.
During the towing cable running stage, no matter going upwards or downwards, the tension detection value T of the power supply cable at the position of the coal mining machine body1And when one of the tension detection values T2 of the power supply cables at the streamer device is higher than the corresponding tension alarm threshold value, the control module controls the alarm device to immediately give an alarm, and if one of the tension detection values T1 and T2 is higher than the corresponding shutdown threshold value, the control module sends a shutdown command. Because the power cables at the shearer body and the power cables at the streamer devices are stressed differently, T1 and T2 have their own corresponding tension alarm threshold and shutdown threshold. The shutdown threshold is higher than the tension alarm threshold for the power supply cable at the same location. For the supply cables at the streamer devices, the corresponding tension alarm threshold is not below the upper limit of the safe operating tension range.
When the tension detection value is higher than the tension alarm threshold value, whether the tension detection value is higher than the corresponding shutdown threshold value is usually judged, when the tension detection value is also higher than the shutdown threshold value, the control module directly sends out a shutdown instruction, and when the tension detection value is not higher than the shutdown threshold value, the control module controls the alarm device to send out an abnormal tension alarm.
The setting of the tension alarm threshold value, the shutdown threshold value and the corresponding tension detection value overrun judgment can avoid the occurrence of extreme conditions that the power supply cable is pulled off or the power supply cable is separated from the cable trough due to accidents, thereby ensuring the safety of the coal mining machine and the cable towing system.
It should be noted that, because the towing unit is stressed differently when the shearer moves up and down, the safe operating tension range, the tension alarm threshold value and the shutdown threshold value may be different even if the tension detection values for the feeder cable at the same position are detected during the upward and downward movements.
And after the control module sends a stop instruction, the towing cable ending stage is directly entered, namely the coal mining machine stops towing firstly, then the towing cable device loosens the power supply cable, and finally the towing cable device stops.
The method for controlling the streamer device to loosen the power supply cable comprises the following steps: when the coal mining machine stops towing according to the front and back of the towing direction of the coal mining machine, if the coal mining machine is in front of the towing device and behind the towing device, controlling the towing motor to delay for a certain time after the coal mining machine stops and then stop; if the towing device is in front of the coal mining machine and behind the coal mining machine, the power supply cable is loosened by controlling the reverse rotation of the towing motor.
The tension detection value of the power supply cable at the shearer body can be directly obtained by arranging a first tension detection module (A1)2 at the connection part of the shearer body and the power supply cable. Tension detection values of the power supply cables at the streamer devices can be indirectly obtained by arranging a second tension detection module (A2)5 at the connection of the streamer motor and the streamer chain. In the process of towing the cable, the tension at the connection part of the cable motor and the cable chain comprises the tension of the power supply cable at the cable device and the friction of the cable device, wherein the friction of the cable device is stable and basically constant, so that the tension and the change of the power supply cable at the cable device can be calculated according to the monitoring data of the second tension detection module.
The ratio of the travel speed of the streamer device to the coal cutter towing speed is preferably controlled to be 1/2 during the streamer operation phase, ensuring that the power supply cables are properly tensioned.
It should be noted that the safe operation tension range, the safe shutdown tension range, the tension alarm threshold and the shutdown threshold are determined based on the stress analysis and tension calculation of the power supply cable according to the actual working conditions, such as the cable model, the cable length, the cable unit weight, the working face length, the vertical distance between the cable joint of the coal mining machine and the cable trough, and other parameters. The power cables at different locations are subjected to different forces during different control phases (e.g. different forces of the streamer unit during the up and down travel of the shearer), and therefore the respective tension ranges and thresholds are usually different.
Further, before the traction direction of the coal mining machine is changed, whether the tension detection value of the power supply cable at the position of the towing device is within the safe operation tension range or not can be judged again, if the tension detection value is lower than the lower limit of the safe operation tension range, the towing motor is controlled by the towing cable frequency converter to drag the towing device, the power supply cable is tightened again until the tension detection value of the power supply cable at the position of the towing device enters the preset safe operation tension range aiming at the power supply cable. If the tension detection value of the power supply cable at the towing device is still within the safe operation tension range, tightening is not needed, and the coal mining machine can be directly reversed.
Claims (10)
1. A control method of a special towing cable system for a coal mining machine is characterized by comprising the following steps: the method comprises the following control stages:
s1, streamer starting phase: before the coal mining machine is started in a traction manner, a towing cable motor is controlled by a towing cable frequency converter to drag a towing cable device, and a power supply cable of the coal mining machine is tightened until the tension detection value of the power supply cable at the towing cable device enters a preset safe operation tension range;
s2, streamer operation stage: the coal mining machine is started in a traction manner, the towing motor is started, the ratio of the moving speed of the towing device to the traction speed of the coal mining machine is controlled within a set range by controlling the rotating speed of the towing motor, meanwhile, the tension detection value of the power supply cable at the towing device is kept within the safe operation tension range, and the steering of the towing motor is controlled to change along with the change of the traction direction of the coal mining machine;
s3, streamer ending stage: the coal mining machine stops traction, and then the towing device is controlled to release the power supply cable until the tension detection value of the power supply cable at the position of the coal mining machine body enters a preset safety shutdown tension range.
2. The special cable towing system control method for the coal mining machine as claimed in claim 1, characterized in that: and in the towing cable operation stage, a traction frequency converter close to the head side of the scraper conveyor is arranged as a master machine for master-slave control, and a towing cable frequency converter and a traction frequency converter close to the tail side of the scraper conveyor are arranged as slave machines.
3. The control method of the special cable system for the coal mining machine as claimed in claim 2, characterized in that: in the towing cable operation stage, in the ascending process of the coal mining machine, the control strategy of the towing cable frequency converter mainly adopts torque control and assists speed monitoring, and when the towing cable device is in an overspeed working state, the output torque of the towing cable frequency converter is reduced; and when the streamer device is in an underspeed working state, increasing the output torque of the streamer frequency converter.
4. The control method of the special cable system for the coal mining machine as claimed in claim 3, characterized in that: setting the towing speed of the coal mining machine as a reference speed V0, setting the towing speed of the coal mining machine as a normal working state when the moving speed of the towing device is in a range of 49% -51% of V0, setting the towing device in an overspeed working state when the moving speed of the towing device is higher than 51% of V0, and setting the towing device in an underspeed working state when the moving speed of the towing device is lower than 49% of V0.
5. The special cable towing system control method for the coal mining machine as claimed in claim 1, characterized in that: in the towing cable operation stage, in the descending process of the coal mining machine, the control strategy of the towing cable frequency converter mainly adopts torque control and assists tension monitoring, when the tension detection value of the power supply cable at the towing cable device is lower than the lower limit of the safe operation tension range, the output torque of the towing cable frequency converter is increased, and when the tension detection value of the power supply cable at the towing cable device is higher than the upper limit of the safe operation tension range, the output torque of the towing cable frequency converter is reduced.
6. The special cable towing system control method for the coal mining machine as claimed in claim 1, characterized in that: in the towing cable running stage, when one of a tension detection value of a power supply cable at a coal mining machine body and a tension detection value of the power supply cable at a towing device is higher than a corresponding tension alarm threshold value, the control module controls the alarm device to immediately give an alarm, and when one of the tension detection value and the tension detection value is higher than a corresponding shutdown threshold value, the control module sends a shutdown command, the shutdown threshold value is higher than the tension alarm threshold value for the power supply cable at the same position, and the corresponding tension alarm threshold value is not lower than the upper limit of the safe running tension range for the power supply cable at the towing device.
7. The special cable towing system control method for the coal mining machine as claimed in claim 6, characterized in that: and after the control module sends a stop command, the control module directly enters the streamer ending stage.
8. The shearer-specific streamer system control method of claim 1, 2, 3, 4, 5, 6, or 7, wherein: the method for controlling the streamer device to loosen the power supply cable comprises the following steps: when the coal mining machine stops towing according to the front and back of the towing direction of the coal mining machine, if the coal mining machine is in front of the towing device and behind the towing device, controlling the towing motor to delay for a certain time after the coal mining machine stops and then stop; and if the towing device is in front of the coal mining machine and behind the coal mining machine, controlling the motor of the towing cable to reversely rotate.
9. The shearer-specific streamer system control method of claim 1, 2, 3, 4, 5, 6, or 7, wherein: the tension detection value of the power supply cable at the coal mining machine body is directly obtained by arranging a first tension detection module at the joint of the coal mining machine body and the power supply cable, and the tension detection value of the power supply cable at the cable towing device is indirectly obtained by arranging a second tension detection module at the joint of the cable towing motor and the cable towing chain.
10. The shearer-specific streamer system control method of claim 1, 2, 3, 4, 5, 6, 7, 8, or 9, wherein: before the traction direction of the coal mining machine is changed, whether the tension detection value of the power supply cable at the towing device is in the safe operation tension range or not is judged again, if the tension detection value is lower than the lower limit of the safe operation tension range, the towing motor is controlled by the towing cable frequency converter to drag the towing device, and the power supply cable is tightened until the tension detection value of the power supply cable at the towing device enters the preset safe operation tension range aiming at the power supply cable.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114578682A (en) * | 2022-03-02 | 2022-06-03 | 煤炭科学研究总院有限公司 | Coal mining machine towing cable control method and device and storage medium |
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| CN114578682A (en) * | 2022-03-02 | 2022-06-03 | 煤炭科学研究总院有限公司 | Coal mining machine towing cable control method and device and storage medium |
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