CN112901195A - Automatic section forming control system and method for cantilever longitudinal shaft type heading machine - Google Patents
Automatic section forming control system and method for cantilever longitudinal shaft type heading machine Download PDFInfo
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- 238000005520 cutting process Methods 0.000 claims abstract description 111
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- 239000003245 coal Substances 0.000 claims description 38
- 239000011435 rock Substances 0.000 claims description 28
- 230000001133 acceleration Effects 0.000 claims description 14
- 230000005641 tunneling Effects 0.000 claims description 11
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- 238000010521 absorption reaction Methods 0.000 claims description 7
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- 230000004888 barrier function Effects 0.000 claims 1
- 238000005065 mining Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 239000010878 waste rock Substances 0.000 description 4
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1086—Drives or transmissions specially adapted therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/027—Check valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses an automatic section forming control system and method for a cantilever longitudinal shaft type heading machine, wherein the system comprises a mechanical body of the heading machine, an electro-hydraulic servo driving system and a detection control system; the heading machine mechanical body comprises a cutting head arranged at the front end, a rotary oil cylinder group for controlling the cutting head to rotate in the horizontal direction, and a lifting oil cylinder group for controlling the cutting head to perform pitching motion, wherein the electro-hydraulic servo driving system is used for driving the rotary oil cylinder group and the lifting oil cylinder group; and the detection control system controls the rotary oil cylinder group and the lifting oil cylinder group according to the detection signal. The invention controls the rotary oil cylinder group and the lifting oil cylinder group in real time through the detection signal, thereby realizing the planning of the cutting path.
Description
Technical Field
The invention relates to the technical field of automatic tunneling equipment, in particular to an automatic section forming control system and method of a cantilever longitudinal shaft type tunneling machine.
Background
Coal is the most important energy in China at present, and exploitation and utilization of coal resources have important influence on development of national economy, so that improvement of coal mining equipment technology in China has practical significance. The cantilever longitudinal shaft type heading machine is mainly used for excavating the working face of a coal mine underground roadway, the forming of the roadway section of most mining areas in China at present is mainly completed by manually operating the heading machine by coal mine workers, and the production efficiency is influenced by the operation experience of the workers and the underground environment. In order to improve the comprehensive mining efficiency of coal and reduce the occurrence rate of mine accidents, the national department of science and technology has successively approved a plurality of important research and development projects related to the intelligent mining technology of coal mining equipment, wherein the important research and development projects comprise an automatic section forming cutting technology of a heading machine.
At present, the memory cutting is a reliable automatic section forming method of the heading machine, and according to the method, through the demonstration operation of workers, a heading machine control system records the cutting track of the current working face for the cutting of the next working face. On the one hand, the cutting path of such a method is generally of an S-like type, and although such a path enables full coverage of the working surface, it is not necessarily the most energy efficient one. On the other hand, when the coal rock characteristic on the cutting path changes suddenly, if a large-hardness gangue is clamped, if the coal rock characteristic is still pushed at the original cutting speed, a certain degree of impact is generated on the development machine body and the hydraulic system, and the service life of the development machine is influenced. Therefore, if the cutting speed can be adaptively adjusted or the gangue can be bypassed according to the hardness of the coal rock, the heading machine can finish the cutting operation with higher working efficiency and reliable machine performance.
However, for coal strata with complex geological structures, the distribution, size and hardness of cutting obstacles such as irregular gangue inclusion are unknown, and the cutting obstacles are influenced by underground dust, noise, high-temperature and high-humidity working environments, and the adoption of a visual image means to identify the positions of the obstacles such as gangue inclusion in advance has certain difficulty and relatively high overall cost.
Disclosure of Invention
The invention provides an automatic section forming control system and method for a cantilever longitudinal shaft type heading machine, aiming at solving the problems that visual images have certain difficulty in identifying positions of obstacles and the overall cost is high.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
an automatic section forming control system of a cantilever longitudinal shaft type heading machine comprises a heading machine mechanical body, an electro-hydraulic servo driving system and a detection control system; the heading machine mechanical body comprises a cutting head arranged at the front end, a rotary oil cylinder group for controlling the cutting head to rotate in the horizontal direction, and a lifting oil cylinder group for controlling the pitching action of the cutting head; the electro-hydraulic servo driving system is used for driving the rotary oil cylinder group and the lifting oil cylinder group, and the detection control system controls the rotary oil cylinder group and the lifting oil cylinder group according to the detection signal.
Preferably, the heading machine comprises a machine body and a heading machine body, wherein a rotary support is arranged above the platform, a rotary part is arranged above the rotary support, the rear end of the rotary part is connected with a rotary oil cylinder group, the rotary oil cylinder group drives the rotary part to rotate around the rotary support in the horizontal direction, the front end of the rotary part is hinged with a cantilever girder, the front end of the cantilever girder is provided with a cutting motor, and an output shaft of the cutting motor is in driving connection with a cutting head; one end of the lifting cylinder group is hinged with the rotary component, and the other end of the lifting cylinder group is hinged with the front end of the cantilever girder.
Preferably, the electro-hydraulic servo driving system comprises an oil tank, an oil absorption filter, a manual variable pump, a one-way valve, an energy accumulator, an overflow valve, a lifting branch circuit proportional servo valve, a rotary branch circuit proportional servo valve, a hydraulic control one-way valve and an oil return filter, wherein the oil tank is connected with an inlet of the one-way valve through the oil absorption filter and the manual variable pump in sequence; the rotary oil cylinder group comprises a first rotary oil cylinder and a second rotary oil cylinder, an oil port A of the rotary branch proportional servo valve is connected with a first rotary oil cylinder large cavity and a second rotary oil cylinder small cavity, an oil port B of the rotary branch proportional servo valve is connected with the first rotary oil cylinder small cavity and the second rotary oil cylinder large cavity, and an oil port T of the rotary branch proportional servo valve is connected with an oil tank through an oil return filter.
Preferably, the detection control system comprises: the device comprises an electric control cabinet arranged on a platform, an inclination angle sensor arranged on a cantilever girder, an angle sensor arranged on a rotary component, pressure sensors (3-3) arranged in a lifting oil cylinder group and a rotary oil cylinder group, a vibration acceleration sensor arranged at the front end of the cantilever girder, and a current sensor arranged on a cutting motor, wherein the inclination angle sensor, the pressure sensors, the vibration acceleration sensor and the current sensor are in signal connection with the electric control cabinet, and the electric control cabinet is in control connection with a lifting branch proportional servo valve and a rotary branch proportional servo valve.
Preferably, the lift cylinder group includes a first lift cylinder and a second lift cylinder.
The invention also provides an automatic section forming control method of the cantilever longitudinal shaft type tunneling machine, which is characterized by comprising the following steps of:
s1: according to the type and the boundary parameter of the section of the tunnel to be formed, an environment model is built on the working section of the tunnel by adopting a two-dimensional grid method, and the method for building the environment model on the working section of the tunnel by adopting the two-dimensional grid method is as follows:
s11: according to the projection circle diameter D of the cutting head on the roadway section, a plurality of vertical parting lines are sequentially arranged at intervals D from left to right in the roadway section, and a plurality of horizontal parting lines are sequentially arranged at intervals D from bottom to top in the roadway section;
s12: the area on the right side of the rightmost vertical dividing line and the area on the upper side of the topmost horizontal dividing line are used as underexcavated areas to be removed, the width of the section of the residual roadway is A, the height of the section of the residual roadway is B, and the A/D vertical dividing lines and the B/D horizontal dividing lines divide the section of the residual roadway into a plurality of square grids with the side length of D;
s13: if the centre of the square grid is used as a track point corresponding to the square grid, the remaining roadway section has (A/D) x (B/D) track points, if the square grid has clamped waste rock, the track point corresponding to the square grid is defined as an obstacle point, and if the square grid has no clamped waste rock, the track point corresponding to the square grid is defined as a free point;
s14: and sequentially marking all track points on the section of the residual roadway along an S-shaped path from left to right and from bottom to top: 1,2,3, …, (a/D) × (B/D);
s2: implanting the environment model constructed in the step S1 into an electric control cabinet, setting an initial cutting path according to the track point sequence number, starting an automatic section forming control system of the cantilever longitudinal shaft type heading machine, and controlling a cutting head to perform heading cutting operation by the system according to the initial cutting path; the electric control cabinet collects real-time data of an inclination angle sensor, an angle sensor, a pressure sensor, a vibration acceleration sensor and a current sensor in the tunneling cutting operation process, a controller in the electric control cabinet processes the real-time data, and real-time coal rock hardness H is deduced on line through a self-adaptive fuzzy algorithmf；
S3: if real-time coal rock hardness HfThe limit cutting hardness Hs of the cutting head is not exceeded, and the automatic section forming control system of the cantilever longitudinal shaft type heading machineContinuing to perform tunneling and cutting operation according to the initial cutting path in the step S2; if the real-time coal rock hardness Hf exceeds the limit cutting hardness Hs of the cutting head, the controller considers two optimization targets of cutting power consumption and section forming quality of the heading machine at the same time and plans a cutting path of the cutting head again based on a dynamic multi-target ant colony algorithm;
s4: the controller controls the rotary oil cylinder group and the lifting oil cylinder group to drive the cutting head to move at a trapezoidal speed.
Preferably, step S2 is to deduce real-time coal-rock hardness H on line through adaptive fuzzy algorithmfThe method comprises the following steps:
s21: acquiring a cantilever girder inclination angle, a horizontal swing angle of a rotary part, two-cavity pressure of a lifting oil cylinder group, two-cavity pressure of a rotary oil cylinder group, a vibration signal of a cutting head and three-phase current data of a cutting motor when the cutting head cuts coal rocks with different hardness at different swing speeds through underground actual measurement of a coal mine or laboratory bench test, and establishing an expert database according to the acquired data;
s22: the real-time data of the inclination angle sensor, the pressure sensor, the vibration acceleration sensor and the current sensor are collected by the electric control cabinet to be used as the input of the fuzzy algorithm of the controller, and the proper fuzzy rule is formulated and the proper membership function is selected to obtain the coal rock hardness H of the cut coal rockf。
Preferably, in step S22, different numbers of fuzzy rules are selected according to the change frequency of the real-time data collected by the electronic control cabinet.
Preferably, the underexcavated area is excavated by the subsequent sweeping process in step S12.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the real-time data of the sensor in the tunneling and cutting operation process is used for automatically identifying obstacles such as gangue inclusion and the like, so that the probability of faults such as the equipment failure of the tunneling machine cutting system under the overload of the high-hardness coal rock, instability of supporting legs caused by vibration of the machine body, pipe impact and explosion of a hydraulic system and the like can be reduced to a certain extent, and the working stability and reliability of the whole machine are improved. The invention also provides a dynamic multi-objective ant colony algorithm for optimizing the cutting path of the coal roadway cantilever type tunneling machine, performs compromise optimization between cutting power consumption and section forming quality, overcomes the defect that the length of the cutting path is taken as a single optimization target in the prior art, further improves the working efficiency of the tunneling machine and reduces the cutting power consumption.
Drawings
For a clearer explanation of the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for a person skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a machine body and a detection control system;
FIG. 2 is a schematic diagram of the electro-hydraulic servo drive system;
FIG. 3 is a schematic diagram of an environment model of a rectangular roadway section constructed by a two-dimensional grid method;
in the figure: 1-1, a platform; 1-2, rotating and supporting; 1-3, a rotating member; 1-4, rotating the oil cylinder group; 1-4-1, a first rotary oil cylinder; 1-4-2, a second rotary oil cylinder; 1-5, a cantilever girder; 1-6, cutting a motor; 1-7, a cutting head; 1-8, lifting the oil cylinder group; 1-8-1, a first lift cylinder; 1-8-2, a second lifting oil cylinder; 2-1, an oil tank; 2-2, an oil absorption filter; 2-3, a manual variable pump; 2-4, a one-way valve; 2-5, an energy accumulator; 2-6, overflow valve; 2-7-1, a lifting branch proportional servo valve; 2-7-2, a rotary branch proportional servo valve; 2-8, a hydraulic control one-way valve; 2-9, an oil return filter; 3-1, a tilt sensor; 3-2, an angle sensor; 3-3, a pressure sensor; 3-4, a vibration acceleration sensor; 3-5, a current sensor; 3-6, an electric control cabinet; 4-1, and carrying out gangue inclusion.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an automatic section forming control system of a cantilever longitudinal shaft type heading machine comprises a heading machine mechanical body, an electro-hydraulic servo driving system and a detection control system; the mechanical body of the heading machine comprises a cutting head 1-7 arranged at the front end, a rotary oil cylinder group 1-4 for controlling the cutting head 1-7 to rotate in the horizontal direction, and a lifting oil cylinder group 1-8 for controlling the pitching action of the cutting head 1-7; the electro-hydraulic servo driving system is used for driving the rotary oil cylinder group 1-4 and the lifting oil cylinder group 1-8; the detection control system controls the rotary oil cylinder group 1-4 and the lifting oil cylinder group 1-8 according to the detection signal, the rotary oil cylinder group 1-4 comprises a first rotary oil cylinder 1-4-1 and a second rotary oil cylinder 1-4-2, and the lifting oil cylinder group 1-8 comprises a first lifting oil cylinder 1-8-1 and a second lifting oil cylinder 1-8-2.
The heading machine comprises a mechanical body and a heading machine body, wherein the mechanical body comprises a platform 1-1, a rotary support 1-2 is arranged above the platform 1-1, a rotary part 1-3 is arranged above the rotary support 1-2, the rear end of the rotary part 1-3 is connected with a rotary oil cylinder group 1-4, the rotary oil cylinder group 1-4 drives the rotary part 1-3 to rotate around the rotary support 1-2 in the horizontal direction, the front end of the rotary part 1-3 is hinged with a cantilever girder 1-5, the front end of the cantilever girder 1-5 is provided with a cutting motor 1-6, and the output shaft of the cutting motor 1-6 is connected with a cutting head 1-7 in a driving manner; one end of the lifting cylinder group 1-8 is hinged with the rotary part 1-3, and the other end is hinged with the front end of the cantilever girder 1-5.
The detection control system includes: the device comprises an electric control cabinet 3-6 arranged on a platform 1-1 and an inclination angle sensor 3-1 arranged on a cantilever girder 1-5, wherein the inclination angle sensor 3-1 is used for measuring an inclination angle of the cantilever girder 1-5 during lifting; the angle sensor 3-2 is arranged on the rotary component 1-3, and the angle sensor 3-2 is used for measuring the horizontal swing angle of the rotary component 1-3; the pressure sensors 3-3 are arranged in the lifting oil cylinder groups 1-8 and the rotary oil cylinder groups 1-4, and the pressure sensors 3-3 are used for respectively measuring the pressure of two cavities of the lifting oil cylinder groups 1-8 and the rotary oil cylinder groups 1-4; the vibration acceleration sensor 3-4 is arranged at the front end of the cantilever girder 1-5, and the vibration acceleration sensor 3-4 is used for measuring vibration signals of the cutting head 1-7; the current sensor 3-5 is arranged on the cutting motor 1-6, and the current sensor 3-5 is used for measuring the three-phase current of the cutting motor 1-6; the inclination angle sensor 3-1, the angle sensor 3-2, the pressure sensor 3-3, the vibration acceleration sensor 3-4 and the current sensor 3-5 are in signal connection with the electric control cabinet 3-6, and the electric control cabinet 3-6 is in control connection with the lifting branch proportional servo valve 2-7-1 and the rotary branch proportional servo valve 2-7-2.
As shown in figure 2, the electro-hydraulic servo driving system comprises an oil tank 2-1, an oil absorption filter 2-2, a manual variable pump 2-3, a check valve 2-4, an energy accumulator 2-5, an overflow valve 2-6, a lifting branch proportional servo valve 2-7-1, a rotary branch proportional servo valve 2-7-2, a hydraulic control check valve 2-8 and an oil return filter 2-9, wherein the oil tank 2-1 is connected with an inlet of the check valve 2-4 through the oil absorption filter 2-2 and the manual variable pump 2-3 in sequence, an outlet of the check valve 2-4 is respectively connected with an inlet of the energy accumulator 2-5, an inlet of the overflow valve 2-6, an oil port P of the lifting branch proportional servo valve 2-7-1 and an oil port P of the rotary branch proportional servo valve 2-7-2, the outlet of the overflow valve 2-6 is connected with the oil tank 2-1, the oil port A of the lifting branch proportional servo valve 2-7-1 is connected with the large cavity of the lifting oil cylinder group 1-8 through the hydraulic control one-way valve 2-8, the oil port B of the lifting branch proportional servo valve 2-7-1 is connected with the small cavity of the lifting oil cylinder group 1-8, and the oil port T of the lifting branch proportional servo valve 2-7-1 is connected with the oil tank 2-1 through the oil return filter 2-9; an oil port A of the rotary branch proportional servo valve 2-7-2 is connected with a first rotary oil cylinder 1-4-1 large cavity and a second rotary oil cylinder 1-4-2 small cavity, an oil port B of the rotary branch proportional servo valve 2-7-2 is connected with the first rotary oil cylinder 1-4-1 small cavity and the second rotary oil cylinder 1-4-2 large cavity, and an oil port T of the rotary branch proportional servo valve 2-7-2 is connected with an oil tank 2-1 through an oil return filter 2-9.
The invention also provides an automatic section forming control method of the cantilever longitudinal shaft type heading machine, which comprises the following steps:
s1: according to the type of the section of the roadway to be formed and boundary parameters, an environment model is constructed on the working section of the roadway by adopting a two-dimensional grid method, as shown in fig. 3, the method for constructing the environment model on the working section of the roadway by adopting the two-dimensional grid method is as follows, in the embodiment, the diameter D of a projection circle of a cutting head 1-7 on the section of the roadway is 1m, the width A of the section of the residual roadway is 4m, and the height B of the section of the residual roadway is 4 m:
s11: according to the diameter 1m of a projection circle of the cutting head 1-7 on the section of the roadway, 4 vertical parting lines are arranged in the section of the roadway at intervals of 1m from left to right, and 4 horizontal parting lines are arranged in the section of the roadway at intervals of 1m from bottom to top;
s12: the area on the right side of the rightmost vertical dividing line and the area on the upper side of the topmost horizontal dividing line are used as under-excavated areas to be removed, the width of the section of the residual roadway is 4m, the height of the section of the residual roadway is 4m, the 4 vertical dividing lines and the 4 horizontal dividing lines divide the section of the residual roadway into a plurality of square grids with the side length of 1m, and the under-excavated areas are excavated by a subsequent upper sweeping procedure in the step S12;
s13: if the center of the square grid is used as a track point corresponding to the square grid, the remaining roadway section has 16 track points in total, if the square grid has clamped waste rock 4-1, the track point corresponding to the square grid is defined as an obstacle point, and if the square grid has no clamped waste rock 4-1, the track point corresponding to the square grid is defined as a free point;
s14: and sequentially marking all track points on the section of the residual roadway along an S-shaped path from left to right and from bottom to top: 1,2,3, …, 16, in fig. 3, the track point No. 6 is an obstacle point, and the rest track points are free points;
s2: implanting the environment model constructed in the step S1 into an electric cabinet 3-6, setting an initial cutting path 1-2-3-4-5-6-7-8-9-10-11-12-13-14-15-16 according to the track point sequence number, starting an automatic section forming control system of the cantilever longitudinal shaft type heading machine, and controlling the cutting head 1-7 to perform heading cutting operation according to the initial cutting path by the system; the electric control cabinet 3-6 collects real-time data of the inclination angle sensor 3-1, the angle sensor 3-2, the pressure sensor 3-3, the vibration acceleration sensor 3-4 and the current sensor 3-5 in the tunneling and cutting operation process, a controller in the electric control cabinet 3-6 processes the real-time data, and the real-time coal rock hardness H is deduced on line through a self-adaptive fuzzy algorithmf；
Step S2, real-time coal rock hardness H is deduced on line through self-adaptive fuzzy algorithmfThe method comprises the following steps:
s21: acquiring a cantilever girder 1-5 inclination angle, a rotary component 1-3 horizontal swing angle, lifting oil cylinder group 1-8 two-cavity pressure, rotary oil cylinder group 1-4 two-cavity pressure, a cutting head 1-7 vibration signal and cutting motor 1-6 three-phase current data when a cutting head 1-7 cuts coal rocks with different hardness at different swing speeds through underground coal mine actual measurement or laboratory bench test, and establishing an expert database according to the acquired data;
s22: the electric control cabinet 3-6 collects real-time data of the inclination angle sensor 3-1, the angle sensor 3-2, the pressure sensor 3-3, the vibration acceleration sensor 3-4 and the current sensor 3-5 as input of a fuzzy algorithm of the controller, and obtains the coal rock hardness H of the cut coal rock by formulating a proper fuzzy rule and selecting a proper membership functionf. In step S22, fuzzy rules with different numbers are selected according to the change frequency of the real-time data collected by the electric control cabinets 3-6. Specifically, when the real-time data do not change greatly, the coal rock layer is relatively homogeneous, and a few fuzzy rules are selected on the premise of not influencing the control effect in order to simplify the complexity of the algorithm; when the real-time data change is severe, the hardness of the coal rock layer is shown to be changed greatly, and the number of fuzzy rules is increased so as to improve the algorithm precision;
s3: if real-time coal rock hardness HfThe limit cutting hardness H of the cutting head 1-7 is not exceededsThe automatic section forming control system of the cantilever longitudinal shaft type heading machine continues to perform heading and cutting operation according to the initial cutting path in the step S2; if real-time coal rock hardness HfExceeds the limit cutting hardness H of 1-7 of the cutting headsThen the controller considers two optimization targets of cutting power consumption and section forming quality of the development machine at the same time, and replans the cutting path of the cutting head 1-7 based on a dynamic multi-objective ant colony algorithm;
s4: the controller controls the rotary oil cylinder group 1-4 and the lifting oil cylinder group 1-8 to drive the cutting head 1-7 to move at a trapezoidal speed.
Specifically, when the cutting head 1-7 moves to the track point 6 along the initial cutting path, the cutting head encounters the gangue 4-1, the controller in the electric control cabinet 3-6 obtains that the coal rock hardness of the track point 6 exceeds the limit cutting hardness of the cutting head through the self-adaptive fuzzy algorithm on line reasoning, the controller plans the cutting path of the cutting head 1-7 to be 5-11-7 again based on a dynamic multi-target ant colony algorithm, and therefore the obstacle point gangue 4-1 can be bypassed.
Claims (9)
1. The utility model provides an automatic section of cantilever longitudinal axis formula entry driving machine takes shape control system which characterized in that: the device comprises a mechanical body of the development machine, an electro-hydraulic servo driving system and a detection control system;
the heading machine mechanical body comprises a cutting head (1-7) arranged at the front end, a rotary oil cylinder group (1-4) for controlling the cutting head (1-7) to rotate in the horizontal direction, and a lifting oil cylinder group (1-8) for controlling the pitching action of the cutting head (1-7);
the electro-hydraulic servo driving system is used for driving the rotary oil cylinder group (1-4) and the lifting oil cylinder group (1-8);
the detection control system controls the rotary oil cylinder group (1-4) and the lifting oil cylinder group (1-8) according to the detection signal.
2. The automatic section forming control system of the cantilever longitudinal shaft type heading machine according to claim 1, wherein: the heading machine comprises a mechanical body and is characterized in that the mechanical body comprises a platform (1-1), a rotary support (1-2) is arranged above the platform (1-1), a rotary component (1-3) is arranged above the rotary support (1-2), the rear end of the rotary component (1-3) is connected with a rotary oil cylinder group (1-4), the rotary oil cylinder group (1-4) drives the rotary component (1-3) to rotate around the rotary support (1-2) in the horizontal direction, the front end of the rotary component (1-3) is hinged with a cantilever girder (1-5), the front end of the cantilever girder (1-5) is provided with a cutting motor (1-6), and an output shaft of the cutting motor (1-6) is connected with a cutting head (1-7) in a driving manner; one end of the lifting cylinder group (1-8) is hinged with the rotary part (1-3), and the other end is hinged with the front end of the cantilever girder (1-5).
3. The automatic profiling control system of a cantilever longitudinal shaft type heading machine according to claim 2, wherein: the electro-hydraulic servo driving system comprises an oil tank (2-1), an oil absorption filter (2-2), a manual variable pump (2-3), a one-way valve (2-4), an energy accumulator (2-5), an overflow valve (2-6), a lifting branch proportional servo valve (2-7-1), a rotary branch proportional servo valve (2-7-2), a hydraulic control one-way valve (2-8) and an oil return filter (2-9), wherein the oil tank (2-1) is connected with an inlet of the one-way valve (2-4) through the oil absorption filter (2-2) and the manual variable pump (2-3) in sequence, an outlet of the one-way valve (2-4) is respectively connected with the energy accumulator (2-5), an inlet of the overflow valve (2-6) and a P oil port of the lifting branch proportional servo valve (2-7-1), The oil port P of the rotary branch proportional servo valve (2-7-2) is connected, the outlet of the overflow valve (2-6) is connected with the oil tank (2-1),
an oil port A of the lifting branch proportional servo valve (2-7-1) is connected with a large cavity of the lifting oil cylinder group (1-8) through a hydraulic control one-way valve (2-8), an oil port B of the lifting branch proportional servo valve (2-7-1) is connected with a small cavity of the lifting oil cylinder group (1-8), and an oil port T of the lifting branch proportional servo valve (2-7-1) is connected with an oil tank (2-1) through an oil return filter (2-9);
the rotary oil cylinder group (1-4) comprises a first rotary oil cylinder (1-4-1) and a second rotary oil cylinder (1-4-2), an oil port A of a rotary branch proportional servo valve (2-7-2) is connected with a large cavity of the first rotary oil cylinder (1-4-1) and a small cavity of the second rotary oil cylinder (1-4-2), an oil port B of the rotary branch proportional servo valve (2-7-2) is connected with a small cavity of the first rotary oil cylinder (1-4-1) and a large cavity of the second rotary oil cylinder (1-4-2), and an oil port T of the rotary branch proportional servo valve (2-7-2) is connected with an oil tank (2-1) through an oil return filter (2-9).
4. The automatic profiling control system of a cantilever longitudinal shaft type heading machine according to claim 3, wherein: the detection control system includes: an electric control cabinet (3-6) arranged on a platform (1-1), an inclination angle sensor (3-1) arranged on a cantilever girder (1-5), an angle sensor (3-2) arranged on a rotary component (1-3), a pressure sensor (3-3) arranged in a lifting oil cylinder group (1-8) and a rotary oil cylinder group (1-4), a vibration acceleration sensor (3-4) arranged at the front end of the cantilever girder (1-5), and a current sensor (3-5) arranged on a cutting motor (1-6), wherein the inclination angle sensor (3-1), the angle sensor (3-2), the pressure sensor (3-3), the vibration acceleration sensor (3-4) and the current sensor (3-5) are in signal connection with the electric control cabinet (3-6), the electric control cabinet (3-6) is in control connection with the lifting branch proportional servo valve (2-7-1) and the rotary branch proportional servo valve (2-7-2).
5. The automatic profiling control system of a cantilever longitudinal shaft type heading machine according to claim 3, wherein: the lifting oil cylinder group (1-8) comprises a first lifting oil cylinder (1-8-1) and a second lifting oil cylinder (1-8-2).
6. The automatic section forming control method of the cantilever longitudinal shaft type heading machine is characterized by comprising the following steps of:
s1: according to the type and the boundary parameter of the section of the tunnel to be formed, an environment model is built on the working section of the tunnel by adopting a two-dimensional grid method, and the method for building the environment model on the working section of the tunnel by adopting the two-dimensional grid method is as follows:
s11: according to the projection circle diameter D of the cutting head (1-7) on the section of the roadway, a plurality of vertical parting lines are arranged at intervals D in the section of the roadway from left to right, and a plurality of horizontal parting lines are arranged at intervals D in the section of the roadway from bottom to top;
s12: the area on the right side of the rightmost vertical dividing line and the area on the upper side of the topmost horizontal dividing line are used as underexcavated areas to be removed, the width of the section of the residual roadway is A, the height of the section of the residual roadway is B, and the A/D vertical dividing lines and the B/D horizontal dividing lines divide the section of the residual roadway into a plurality of square grids with the side length of D;
s13: if the centers of the square grids are used as track points corresponding to the square grids, the remaining roadway cross sections have A/D multiplied by B/D track points, if the square grids have the gangue (4-1), the track points corresponding to the square grids are defined as barrier points, and if the square grids do not have the gangue (4-1), the track points corresponding to the square grids are defined as free points;
s14: and sequentially marking all track points on the section of the residual roadway along an S-shaped path from left to right and from bottom to top: 1,2,3, …, A/D × B/D;
s2: implanting the environment model constructed in the step S1 into an electric control cabinet (3-6), setting an initial cutting path according to the track point sequence number, starting an automatic section forming control system of the cantilever longitudinal shaft type heading machine, and controlling a cutting head (1-7) to perform heading cutting operation by the system according to the initial cutting path; electric control in tunneling cutting operation processThe cabinet (3-6) collects real-time data of the inclination angle sensor (3-1), the angle sensor (3-2), the pressure sensor (3-3), the vibration acceleration sensor (3-4) and the current sensor (3-5), a controller in the electric control cabinet (3-6) processes the real-time data, and the real-time coal rock hardness H is deduced on line through a self-adaptive fuzzy algorithmf；
S3: if real-time coal rock hardness HfDoes not exceed the limit cutting hardness H of the cutting head (1-7)sThe automatic section forming control system of the cantilever longitudinal shaft type heading machine continues to perform heading and cutting operation according to the initial cutting path in the step S2; if real-time coal rock hardness HfExceeds the limit cutting hardness H of the cutting head (1-7)sThe controller considers two optimization targets of cutting power consumption and section forming quality of the development machine at the same time, and replans the cutting path of the cutting head (1-7) based on a dynamic multi-objective ant colony algorithm;
s4: the controller controls the rotary oil cylinder group (1-4) and the lifting oil cylinder group (1-8) to drive the cutting head (1-7) to move at a trapezoidal speed.
7. The automatic section forming control method of the cantilever longitudinal shaft type heading machine according to claim 6, wherein step S2 is implemented by performing online reasoning on real-time coal-rock hardness H through an adaptive fuzzy algorithmfThe method comprises the following steps:
s21: the method comprises the steps of obtaining an inclination angle of a cantilever girder (1-5), a horizontal swing angle of a rotary component (1-3), two-cavity pressure of a lifting oil cylinder group (1-8), two-cavity pressure of a rotary oil cylinder group (1-4), a vibration signal of a cutting head (1-7) and three-phase current data of a cutting motor (1-6) when the cutting head (1-7) cuts coal rocks with different hardness at different swing speeds through underground coal mine actual measurement or laboratory bench test, and establishing an expert database;
s22: the electric control cabinet (3-6) collects real-time data of the inclination angle sensor (3-1), the angle sensor (3-2), the pressure sensor (3-3), the vibration acceleration sensor (3-4) and the current sensor (3-5) as input of a fuzzy algorithm of the controller, and proper fuzzy rules are formulated to select a proper membership function to obtain the coal rock hardness H of the cut coal rockf。
8. The automatic section forming control method of the cantilever longitudinal shaft type heading machine according to claim 7, wherein in step S22, different numbers of fuzzy rules are selected according to the change frequency of real-time data collected by the electric control cabinets (3-6).
9. The automatic section forming control method of the cantilever vertical shaft type heading machine according to claim 6, wherein the underexcavated region is excavated by a subsequent sweeping process in step S12.
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