CN115949405A - Coal mining machine control method and system, coal mining machine, electronic equipment and computer medium - Google Patents
Coal mining machine control method and system, coal mining machine, electronic equipment and computer medium Download PDFInfo
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Abstract
The invention relates to the technical field of coal mining machines, and provides a coal mining machine control method, a coal mining machine control system, a coal mining machine, electronic equipment and a computer medium, wherein the method comprises the following steps: after the coal mining machine is electrified and started, controlling the cutting motor to operate to a preset rated speed, and accelerating the traction motor; monitoring cutting operation parameters of a cutting motor and traction operation parameters of a traction motor in real time; and adjusting the running speed of the cutting motor and/or the traction motor in real time based on the cutting running parameters and the traction running parameters until any one of the cutting running parameters and the traction running parameters reaches a corresponding preset upper limit value. The invention is used for solving the defect that the operation of the coal mining machine in a high-efficiency area cannot be ensured due to the adoption of a control method of respective control aiming at the possible shutdown reason of the intelligent coal mining machine in the prior art, and realizing the coordinated operation of cutting and traction of the coal mining machine, thereby ensuring that the coal mining machine can be kept to operate in the high-efficiency area aiming at different working conditions, and improving the stability and the coal mining efficiency of the coal mining machine.
Description
Technical Field
The invention relates to the technical field of coal mining machines, in particular to a coal mining machine control method and system, a coal mining machine, electronic equipment and a computer medium.
Background
Coal mining machines are indispensable equipment in coal mining operation, and the intellectualization of the coal mining machines is already in the initial scale.
However, smart coal mining machines often experience different shutdown problems under different operating conditions, such as: in order to avoid the shutdown caused by the reasons, the existing control mode is to respectively control the possible shutdown reasons, such as that the shutdown occurs due to the blocking/overload of the traction motor, that the shutdown occurs due to the overload/overtemperature of the cutting motor, and that the shutdown occurs due to the overhigh temperature of the rocker arm, for example: when the traction motor is blocked/overloaded, the traction force and the cutting force are increased and kept unchanged, and when the cutting motor is overloaded, the cutting force and the traction force are increased and kept unchanged.
In the process of implementing the technical scheme of the invention, the inventor finds that although the existing single control mode reduces the shutdown probability of the intelligent coal mining machine, the following problems exist: the operation efficiency of the coal mining machine can be improved only to a small extent, and the whole coal mining machine cannot operate in a high-efficiency area.
Disclosure of Invention
The invention provides a control method and a control system for a coal mining machine, the coal mining machine, electronic equipment and a computer medium, which are used for solving the defect that the operation of the coal mining machine in a high-efficiency area cannot be ensured due to the fact that a control method for respective control is adopted aiming at the possible shutdown reason of an intelligent coal mining machine in the prior art, and realizing the coordinated operation of cutting and traction of the coal mining machine, so that the coal mining machine can be ensured to operate in the high-efficiency area aiming at different working conditions, and the stability and the coal mining efficiency of the coal mining machine are improved.
The invention provides a control method of a coal mining machine, which comprises the following steps:
after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to run to a preset rated speed, and accelerating a traction motor of the coal mining machine;
monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time;
and adjusting the operation speed of the cutting motor and/or the traction motor in real time based on the cutting operation parameter and the traction operation parameter until any one of the cutting operation parameter and the traction operation parameter reaches a corresponding preset upper limit value.
Preferably, according to the control method of the coal mining machine of the present invention, the adjusting the operation speed of the cutting motor and/or the traction motor in real time based on the cutting operation parameter and the traction operation parameter includes:
determining whether the traction operation parameter reaches a first preset adjustment limit value, wherein the first preset adjustment limit value is a preset adjustment limit value of the traction motor;
when any one operation parameter of the traction motor reaches the first preset adjustment limit value and the cutting operation parameter is smaller than the corresponding preset upper limit value, the operation speed of the cutting motor is increased;
otherwise, controlling the cutting motor and the traction motor to operate at the current operating speed.
Preferably, according to the control method of the coal mining machine of the present invention, after the operation speed of the cutting motor is increased, the method further includes:
controlling the traction motor to increase the speed, and determining whether any one of the traction operation parameters reaches a corresponding preset upper limit value when the cutting operation parameter reaches a second preset adjustment limit value, wherein the second preset adjustment limit value is the preset adjustment limit value of the cutting motor;
if so, controlling the cutting motor and the traction motor to operate at the current operating speed;
if not, controlling the traction motor to increase the speed until any one of the cutting operation parameter and the traction operation parameter reaches the corresponding preset upper limit value.
Preferably, the control method of the coal mining machine according to the present invention further includes:
controlling an oil pump motor of the coal mining machine to operate;
real-time monitoring whether the rocker arm operating parameter of the oil pump motor meets the preset speed-up requirement, the preset speed-up requirement comprises: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of the preset power;
if yes, controlling the oil pump motor to accelerate;
and if not, controlling the oil pump motor to operate at the current operating speed.
Preferably, according to the control method of the coal mining machine of the present invention, after controlling the oil pump motor to accelerate, the method further includes:
monitoring the rocker arm supporting force and the output power in real time;
and when the supporting force of the rocker arm meets the use requirement and/or the output power reaches the preset power upper limit, controlling the oil pump motor to operate at the current operation speed.
The invention also provides a control system of a coal mining machine, comprising: the device comprises a parameter detection module, a cutting frequency converter, a traction frequency converter and a controller;
the parameter detection module is used for detecting cutting operation parameters of a cutting motor of the coal mining machine and traction operation parameters of a traction motor of the coal mining machine;
the cutting frequency converter is used for responding to a first control instruction and controlling the running speed of the cutting motor, and the first control instruction is an instruction which is generated by the controller and used for controlling the cutting motor based on the cutting running parameter and the traction running parameter;
the traction frequency converter is used for responding to a second control instruction to control the running speed of the traction motor, and the second control instruction is an instruction which is generated by the controller based on the cutting running parameter and the traction running parameter and is used for controlling the traction motor;
the controller is used for enabling the cutting motor to operate to a preset rated speed after the coal mining machine is powered on and started, enabling the traction motor to accelerate, monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time, and enabling the operation speed of the cutting motor and/or the traction motor to be adjusted in real time based on the cutting operation parameters and the traction operation parameters until any one of the cutting operation parameters and the traction operation parameters reaches a corresponding preset upper limit value.
Preferably, the control system of the coal mining machine according to the present invention further comprises: an oil pump frequency converter;
the parameter detection module is also used for detecting the rocker arm operation parameters of an oil pump motor of the coal mining machine;
the oil pump frequency converter is used for responding to a third control instruction, controlling the running speed of the oil pump motor, wherein the third control instruction is an instruction which is generated by the controller and used for controlling the oil pump motor based on the rocker arm running parameter and a preset speed-increasing requirement;
the controller is also used for enabling the oil pump motor to operate, monitoring whether the rocker arm operation parameter of the oil pump motor meets a preset speed-up requirement in real time, and enabling the oil pump motor to accelerate when the rocker arm operation parameter meets the preset speed-up requirement, or else enabling the oil pump motor to operate at the current operation speed;
the preset speed-up requirement comprises: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of the preset power.
The invention also provides a coal mining machine comprising the coal mining machine control system or controlled by the coal mining machine control method.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the computer program, the control method of the coal mining machine is realized.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a shearer control method as in any one of the above.
According to the control method and system for the coal mining machine, the electronic equipment and the computer medium, after the coal mining machine is powered on and started, the cutting motor of the coal mining machine is controlled to operate to the preset rated speed, the traction motor of the coal mining machine is accelerated, then the cutting operation parameters of the cutting motor and the traction operation parameters of the traction motor are monitored in real time, the operation speed of the cutting motor and/or the traction motor is adjusted in real time based on the cutting operation parameters and the traction operation parameters until any one of the cutting operation parameters and the traction operation parameters reaches the corresponding preset upper limit value, the control of the cutting motor and the traction motor is not only based on the respective operation parameters, but also used for mutual optimization, so that the operation stability of the coal mining machine is effectively improved through coordination control of the cutting motor and the traction motor, the coal mining machine is enabled to operate in a high-efficiency area, and the coal mining efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be 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 some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is one of the flow diagrams of a shearer loader control method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of the control of the cutting motor and the traction motor of the coal mining machine by using the control method of the coal mining machine provided by one embodiment of the invention;
fig. 3 is a second flow chart of the shearer control method according to the embodiment of the invention;
FIG. 4 is a schematic flow chart illustrating control of an oil pump motor of a coal mining machine using a method for controlling a coal mining machine according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a shearer control system according to one embodiment of the invention;
FIG. 6 is a schematic structural diagram of an electronic device provided by the present invention;
reference numerals:
510: a parameter detection module; 520: cutting the frequency converter; 530: a traction frequency converter; 540: a controller; 550: a cutting motor; 560: a traction motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
A shearer loader control method according to the present invention is described below with reference to fig. 1 to 4, and may be implemented by software and/or hardware of a shearer controller, where the shearer controller may be a controller used by the shearer itself for control, or a controller configured on or remotely connected to the shearer controller and specially used for implementing the shearer control method provided in the embodiments of the present invention, where the controller may be any software and/or hardware capable of implementing control, such as: programmable Logic Controllers (PLCs), etc.
The coal cutter control method provided by the embodiment of the invention comprises the following steps as shown in FIG. 1:
101. after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to run to a preset rated speed, and accelerating a traction motor of the coal mining machine;
it can be understood that after the coal mining machine is powered on and started, the controller firstly needs to perform self-inspection on the coal mining machine, and then controls the cutting motor of the coal mining machine to operate to a preset rated speed and start and accelerate the traction motor of the coal mining machine after confirming that the self-inspection is not abnormal.
It should be noted that after the coal mining machine is started, the cutting motor is generally started first, and then after the cutting motor reaches a certain rotation speed, the traction motor is gradually accelerated.
Specifically, the preset rated speed is the preset running speed of the cutting motor, and can be flexibly set according to needs, so that after the coal mining machine is electrified and started, the controller automatically controls the traction motor to start and accelerate after controlling the cutting motor to run to the preset rated speed.
Furthermore, a traction frequency converter and a cutting frequency converter can be configured on the coal mining machine, and then the traction frequency converter and the cutting frequency converter are controlled by the controller, so that the traction motor and the cutting motor of the coal mining machine are controlled by soft starting of the frequency converter, the problem that the cutting motor, the traction motor and a planetary mechanism are easily impacted due to direct starting of the cutting motor and the traction motor is avoided, the motor is protected by impact, the motor fault probability is reduced, the service life of the motor is prolonged, and the operation stability of the coal mining machine is further improved.
102. Monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time;
it will be appreciated that the operating parameters of the cutting and traction motors, such as temperature, current, etc., have a direct effect on the operation of the shearer loader, for example: when the traction motor or the cutting motor is overloaded, that is, the current or the output power exceeds the maximum extent which can be borne by the motor, and the temperature of the motor is too high, the coal mining machine can be stopped.
Specifically, the cutting operation parameters of the cutting motor and the traction operation parameters of the traction motor are monitored in real time in the process of accelerating the traction motor, so that the operation state of the coal mining machine can be effectively monitored, and the shutdown caused by the fact that the operation parameters exceed the limit value is avoided.
More specifically, the cutting operation parameters may include cutting power, cutting motor temperature, cutting motor operating speed, and the like, and the traction operation parameters may include traction power, traction motor temperature, traction motor operating speed, and the like.
103. And adjusting the operation speed of the cutting motor and/or the traction motor in real time based on the cutting operation parameter and the traction operation parameter until any one of the cutting operation parameter and the traction operation parameter reaches a corresponding preset upper limit value.
It can be understood that, when the coal mining machine is located on a working surface with more rocks, the cutting motor is easy to heat, and the temperature of the rocker arm high-speed shaft is also easy to rapidly rise, although the existing coal mining machine is provided with a constant power protection function, the traction speed of the coal mining machine is also restricted, so that the coal mining efficiency of the coal mining machine is reduced, therefore, by respectively controlling each operation component of the coal mining machine according to each operation parameter, although the probability of stopping the coal mining machine can be reduced, the operation of other operation components cannot be adjusted according to the output state of a certain operation component, for example: when the output power of the traction motor reaches the upper limit value of the preset traction power, the shutdown of the coal mining machine is avoided only by reducing the output power of the traction motor, however, after the speed of the cutting motor is increased, the traction current of the traction motor is reduced, if the cutting power of the cutting motor does not reach the upper limit value of the preset cutting power at the moment, the output power of the traction motor can be reduced and the efficiency of the coal mining machine can be improved by increasing the speed of the cutting motor, so that the operation of the coal mining machine is controlled by respectively controlling each operation component of the coal mining machine according to each operation parameter, and the coal mining machine cannot be guaranteed to always operate in a high-efficiency area.
Specifically, the preset upper limit value refers to a maximum value that can be reached by each operating parameter of the traction motor and the cutting motor, that is, when a certain operating parameter exceeds the corresponding preset upper limit value, the risk that the coal mining machine is stopped due to overload or high temperature and the like is increased sharply, and even the motor is damaged. The preset upper limit value can be specifically set according to the conditions of the traction motor and the cutting motor, the overall condition of the coal mining machine, the specific working conditions and the like, for example: the nominal values of the respective operating parameters are set to be 1.1 times, 1.2 times, etc. of the nominal values.
By monitoring cutting operation parameters and traction operation parameters of the coal mining machine in real time and adjusting the operation speed of the cutting motor and/or the traction motor based on the cutting operation parameters and the traction operation parameters together until any one of the cutting operation parameters and the traction operation parameters reaches a preset upper limit value, closed-loop control of mutual pushing and mutual restriction of the cutting motor and the traction motor is formed, so that stable and safe operation of the coal mining machine is ensured, higher coal mining efficiency can be ensured under different working conditions of a fully mechanized mining face of the coal mining machine, and energy conservation and efficiency improvement of the coal mining machine are realized.
Based on the content of the above embodiment, the adjusting the operation speed of the cutting motor and/or the traction motor in real time based on the cutting operation parameter and the traction operation parameter includes:
determining whether the traction operation parameter reaches a first preset adjustment limit value, wherein the first preset adjustment limit value is a preset adjustment limit value of the traction motor;
when any one operation parameter of the traction motor reaches the first preset adjustment limit value and the cutting operation parameter is smaller than the corresponding preset upper limit value, improving the operation speed of the cutting motor;
otherwise, controlling the cutting motor and the traction motor to operate at the current operating speed.
It can be understood that the first preset adjustment limit is a preset node for triggering the controller to adjust the operation speed of the cutting motor, and may be specifically defined as a value corresponding to each traction operation parameter when the traction motor operates to a working state closer to the maximum output power, for example, the adjustment limit may include an adjustment limit of the traction operation parameter, such as a temperature of the traction motor and a traction current, which directly affects the output power of the traction motor. Therefore, the higher the first preset adjustment limit is set, the higher the output power of the corresponding traction motor is, the higher the coal mining efficiency of the coal mining machine is, and at the same time, the stronger the impact force on the mechanical structure of the coal mining machine is. Therefore, the determination of the first preset adjustment limit needs to be comprehensively considered by combining the characteristics of the mechanical structure and the output power of the coal mining machine and the specific working condition, and the specific rule is that the higher the first preset adjustment limit is set, the stronger the requirement on the mechanical structure of the coal mining machine is, otherwise, the lower the setting is, the softer the adjustment of the traction motor and the cutting motor is, but the lower the first preset adjustment limit is set, so that the adjustment significance is not large, and therefore, the first preset adjustment limit is generally set to be 80% -100% of the rated value of each traction operation parameter.
In one embodiment, taking traction operating parameters including traction motor temperature, traction motor operating speed, and current as examples, the first preset adjustment limit may be set to 90% of the rated values of traction motor temperature, traction motor operating speed, and current.
Specifically, after the cutting motor is accelerated, the traction current of the traction motor is reduced, taking the traction operation parameters including the temperature and the current of the traction motor as an example, assuming that the first preset adjustment limit is 90% of the rated values of the temperature and the current of the traction motor, when the controller determines that the temperature or the current of the traction motor reaches 90% of the rated values, whether the cutting operation parameters of the cutting motor are smaller than the preset upper limit value or not can be further determined, and when the cutting operation parameters such as the cutting power of the cutting motor and the temperature of the cutting motor are smaller than the corresponding preset upper limit values, the operation speed of the cutting motor is increased, not only the coal mining efficiency of the coal mining machine is increased, but also the traction current of the traction motor can be reduced, so that the operation speed of the traction motor can be further increased, and the coal mining efficiency of the coal mining machine is further increased.
More specifically, if any one of the operation parameters of the traction motor reaches a first preset adjustment limit value, but the cutting operation parameter has an operation parameter that has reached a corresponding preset upper limit value, it is indicated that the cutting motor is already in a limit working state that can ensure normal and stable operation of coal mining, that is, the cutting motor is in a most efficient working state, at this time, the controller controls the cutting motor and the traction motor to operate at a current operation speed, so that on one hand, the operation speed of the cutting motor can be prevented from being continuously increased, a failure of the cutting motor is easily caused, and on the other hand, the coal mining machine is in a relatively most efficient output state.
Based on the content of the above embodiment, after the operation speed of the cutting motor is increased, the method further includes:
controlling the traction motor to accelerate, and determining whether any one of the traction operation parameters reaches a corresponding preset upper limit value when the cutting operation parameter reaches a second preset adjustment limit value, wherein the second preset adjustment limit value is the preset adjustment limit value of the cutting motor;
if so, controlling the cutting motor and the traction motor to operate at the current operating speed;
if not, controlling the traction motor to increase the speed until any one of the cutting operation parameter and the traction operation parameter reaches the corresponding preset upper limit value.
It can be understood that the second preset adjustment limit is a preset node for triggering the controller to adjust the operation speed of the traction motor, and the specific setting principle is the same as the first preset adjustment limit and is generally set to 80% -100% of the rated value of each cutting operation parameter.
In one embodiment, taking the example of the cutting operation parameters including cutting motor temperature, cutting motor operating speed and current, the second preset adjustment limit may be set to 90% of the rated values of cutting motor temperature, cutting motor operating speed and current.
Specifically, when the cutting motor is accelerated, the traction current of the traction motor is reduced, the coal mining efficiency of the coal mining machine can be further improved by controlling the speed of the traction motor to be accelerated, and for example, the cutting operation parameters include the temperature and the current of the cutting motor, and the traction operation parameters still include the temperature and the current of the traction motor, and if the second preset adjustment limit is 90% of the rated values of the temperature and the current of the cutting motor, because the controller controls the speed of the traction motor to be accelerated, the cutting motor is also in the acceleration process, therefore, the controller can determine whether to continue to adjust the operation speed of the traction motor by taking 90% of the rated values of the temperature and the current of the cutting motor, whether any one of the temperature and the current of the traction motor reaches the preset upper limit value set for the temperature and the current of the traction motor, and when the temperature and the current of the traction motor are both less than the corresponding preset upper limit values, further determine whether to increase the temperature and the current of the traction motor until the cutting motor reaches the preset upper limit value, and the cutting motor temperature and the current of the traction motor are further increased, and the coal mining efficiency is increased, and the coal mining machine is further increased.
More specifically, if any operation parameter of the traction motor reaches the corresponding preset upper limit value, although the cutting operation parameter only reaches the second preset adjustment limit value, the traction motor is already in the limit working state which can ensure normal and stable operation of coal mining, that is, the traction motor is in the most efficient working state, and at this time, the controller controls the cutting motor and the traction motor to operate at the current operating speed, so that on one hand, the continuous increase of the operating speed of the traction motor can be avoided, the traction motor fault is easily caused, and on the other hand, the coal mining machine is in the relatively most efficient output state.
In addition, the setting of the first preset adjustment limit and the second preset adjustment limit can be further determined based on continuous learning of the operation parameters of the actual work of the coal mining machine, so that the adjustment limits can be reasonably determined by automatic identification of different coal mining machines, and the coal mining efficiency of the coal mining machine is further improved.
As shown in fig. 2, a flowchart for controlling the cutting motor and the traction motor of the coal mining machine by using the control method of the coal mining machine according to the above embodiment of the present invention is shown, wherein taking the example that the cutting operation parameters and the traction operation parameters both include the motor temperature, the output power, and the operation speed, the control of the cutting motor and the traction motor mainly includes the following steps:
201. in the working process of the coal mining machine, whether the coal mining machine is in the maximum efficiency working state is determined in real time; if yes, go to step 2041; if not, execute steps 2021 and 2022, respectively;
2021. enabling cutting, and executing steps 2031, 2032 and 2033 respectively;
2022. traction enabled and steps 2031, 2032 and 2033 are performed, respectively;
2031. determining whether the temperature of the motor reaches a preset upper limit value; if yes, go to step 2041; if not, go to step 2042;
2032. determining whether the output power reaches a preset upper limit value; if yes, go to step 2041; if not, go to step 2042;
2033. determining whether the running speed reaches a preset upper limit value; if yes, go to step 2041; if not, go to step 2042;
2041. controlling the cutting motor and the traction motor to operate at the current operating speed;
2042. and controlling the cutting motor and/or the traction motor to increase the speed.
Based on the content of the above embodiment, the control method of the coal mining machine provided by the embodiment of the present invention further includes a control of the oil pump motor while controlling the cutting motor and the traction motor, wherein as shown in fig. 3, the method mainly includes the following steps:
301. controlling an oil pump motor of the coal mining machine to operate;
302. real-time monitoring whether the rocker arm operating parameter of the oil pump motor meets the preset speed-up requirement, wherein the preset speed-up requirement comprises the following steps: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of the preset power; if yes, go to step 303; if not, go to step 304;
303. controlling the oil pump motor to accelerate;
304. and controlling the oil pump motor to operate at the current operating speed.
Specifically, whether the rocker arm operation parameters of the oil pump motor meet the preset speed-up requirement or not is monitored in real time, so that the controller can control the oil pump motor to accelerate when the supporting force of the rocker arm is insufficient and the output power of the oil pump motor is smaller than the preset upper power limit, and automatic control over the oil pump motor is achieved.
More specifically, the oil pump motor is controlled by the controller, so that the controller can reasonably match the running speeds of the cutting motor, the traction motor and the oil pump motor of the coal mining machine, complete monitoring of three motors in the coal mining machine is realized, and the overall intelligence of the coal mining machine is further improved.
Based on the content of the above embodiment, after controlling the oil pump motor to accelerate, the method further includes:
monitoring the rocker arm supporting force and the output power in real time;
and when the supporting force of the rocker arm meets the use requirement and/or the output power reaches the preset power upper limit, controlling the oil pump motor to operate at the current operation speed.
Specifically, the preset upper power limit refers to a maximum power value that the oil pump motor can safely and stably output, that is, when a certain output power exceeds the preset upper power limit, the risk of damage to the oil pump motor is increased sharply. The preset upper power limit can be specifically set according to the self condition of the oil pump motor, the overall condition of the coal mining machine, the specific working condition of the coal mining machine and the like.
As shown in fig. 4, a flowchart for controlling an oil pump motor of a coal mining machine by using the coal mining machine control method according to the above embodiment of the present invention is provided, wherein the method mainly includes the following steps:
401. in the operation process of the coal mining machine, whether the supporting force of the rocker arm meets the use requirement is determined in real time; if yes, go to step 4041; if not, go to step 402;
402. the oil pump is enabled and steps 4031 and 4032 are performed, respectively;
4031. determining whether the supporting force of the rocker arm meets the use requirement; if yes, go to step 4041; if not, go to step 4042;
4032. determining whether the output power reaches a preset power upper limit; if yes, go to step 4041; if not, go to step 4042;
4041. controlling the oil pump motor to operate at the current operating speed;
4042. and controlling the speed of the oil pump motor to be increased.
In summary, the control method for the coal mining machine provided by the above embodiment of the present invention can be implemented by further configuring a programmable controller PLC, a traction frequency converter, a cutting frequency converter, an oil pump frequency converter, and corresponding temperature sensors, current transformers, pressure sensors, speed sensors, etc. on the existing coal mining machine, so that control signals of each motor frequency converter are controlled by the programmable controller PLC, closed-loop control is performed through feedback sensor data, and the sensor feedback signals of each motor optimize the output of each motor, and simultaneously optimize the output of other motors, so that the traction, cutting, and oil pump motors perform effective output control simultaneously, thereby not only effectively protecting each motor and mechanical structure of the coal mining machine, but also achieving the purpose of quality improvement and efficiency enhancement while enhancing stability.
The coal mining machine control system provided by the invention is described below, and the coal mining machine control system described below and the coal mining machine control method described above can be correspondingly referred to each other.
As shown in fig. 5, the coal cutter control system according to the embodiment of the present invention includes: a parameter detection module 510, a cutting frequency converter 520, a traction frequency converter 530 and a controller 540; wherein,
the parameter detection module 510 is configured to detect cutting operation parameters of a cutting motor 550 of a coal mining machine and traction operation parameters of a traction motor 560 of the coal mining machine;
the cutting frequency converter 520 is configured to control the operation speed of the cutting motor 550 in response to a first control instruction, where the first control instruction is an instruction generated by the controller 540 based on the cutting operation parameter and the traction operation parameter and used for controlling the cutting motor 550;
the traction frequency converter 530 is configured to control an operation speed of the traction motor 560 in response to a second control instruction, where the second control instruction is an instruction generated by the controller 540 for controlling the traction motor 560 based on the cutting operation parameter and the traction operation parameter;
the controller 540 is configured to, after the coal mining machine is powered on and started, operate the cutting motor 550 to a preset rated speed, accelerate the traction motor 560, monitor cutting operation parameters of the cutting motor 550 and traction operation parameters of the traction motor 560 in real time, and adjust the operation speed of the cutting motor 550 and/or the traction motor 560 in real time based on the cutting operation parameters and the traction operation parameters until any one of the cutting operation parameters and the traction operation parameters reaches a corresponding preset upper limit value.
Specifically, the parameter detection module may include a temperature sensor, a current transformer, a pressure sensor, a speed sensor, and the like, to detect various operating parameters of the cutting motor and the traction motor, respectively.
According to the coal cutter control system provided by the embodiment of the invention, after the coal cutter is electrified and started, the cutting motor of the coal cutter is controlled to operate to the preset rated speed, the traction motor of the coal cutter is accelerated, and then the cutting operation parameters of the cutting motor and the traction operation parameters of the traction motor are monitored in real time, so that the operation speed of the cutting motor and/or the traction motor is adjusted in real time based on the cutting operation parameters and the traction operation parameters until any one of the cutting operation parameters and the traction operation parameters reaches the corresponding preset upper limit value, the control of the cutting motor and the traction motor is not only based on the respective operation parameters, but also used for mutual optimization, and therefore, the operation stability of the coal cutter is effectively improved through the coordinated control of the cutting motor and the traction motor, the coal cutter operates in a high-efficiency area, and the coal mining efficiency is improved.
Based on the content of the above embodiment, the coal cutter control system provided by the embodiment of the present invention further includes: an oil pump frequency converter;
the parameter detection module is also used for detecting the rocker arm operation parameters of an oil pump motor of the coal mining machine;
the oil pump frequency converter is used for responding to a third control instruction, controlling the running speed of the oil pump motor, wherein the third control instruction is an instruction which is generated by the controller and used for controlling the oil pump motor based on the rocker arm running parameter and a preset speed-increasing requirement;
the controller is also used for enabling the oil pump motor to operate, monitoring whether the rocker arm operation parameter of the oil pump motor meets a preset speed-up requirement in real time, and enabling the oil pump motor to accelerate when the rocker arm operation parameter meets the preset speed-up requirement, or else enabling the oil pump motor to operate at the current operation speed;
the preset speed-up requirement comprises: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of the preset power.
Specifically, in the coal cutter control system provided in the above embodiment of the present invention, frequency converters are configured for the traction motor, the cutting motor, and the oil pump motor, and then the operation states of the motors of the coal cutter are comprehensively analyzed based on the controllers such as the programmable logic controller PLC of the coal cutter, and the parameter detection modules such as the temperature sensor, the speed sensor, and the pressure sensor, for example: the control of the cutting motor can be optimized under the conditions of low traction speed and high output power, the cutting speed is improved, the coal moving amount of the roller is increased, the traction resistance is reduced, the traction speed is improved, the coal mining efficiency is improved, and the effect of protecting the motor and a mechanical structure from impact is achieved, so that the purposes of quality improvement and efficiency improvement are achieved while the operation stability of the coal mining machine is enhanced.
Optionally, the controller is specifically configured to:
determining whether the traction operation parameter reaches a first preset adjustment limit value, wherein the first preset adjustment limit value is a preset adjustment limit value of the traction motor;
when any one operation parameter of the traction motor reaches the first preset adjustment limit value and the cutting operation parameter is smaller than the corresponding preset upper limit value, improving the operation speed of the cutting motor;
otherwise, controlling the cutting motor and the traction motor to operate at the current operating speed.
Optionally, the controller is further specifically configured to:
controlling the traction motor to increase the speed, and determining whether any one of the traction operation parameters reaches a corresponding preset upper limit value when the cutting operation parameter reaches a second preset adjustment limit value, wherein the second preset adjustment limit value is the preset adjustment limit value of the cutting motor;
if so, controlling the cutting motor and the traction motor to operate at the current operating speed;
if not, controlling the traction motor to increase the speed until any one of the cutting operation parameter and the traction operation parameter reaches the corresponding preset upper limit value.
Optionally, the controller is further configured to:
controlling an oil pump motor of the coal mining machine to operate;
real-time monitoring whether the rocker arm operating parameter of the oil pump motor meets the preset speed-up requirement, the preset speed-up requirement comprises: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of the preset power;
if so, controlling the oil pump motor to accelerate;
and if not, controlling the oil pump motor to operate at the current operating speed.
Optionally, the controller is further configured to:
monitoring the rocker arm supporting force and the output power in real time;
and when the supporting force of the rocker arm meets the use requirement and/or the output power reaches the preset power upper limit, controlling the oil pump motor to operate at the current operation speed.
The embodiment of the invention also provides a coal mining machine comprising the coal mining machine control system in any one of the embodiments or controlled by the coal mining machine control method in any one of the embodiments.
It can be understood that the coal cutter control system according to any of the above embodiments or the coal cutter controlled by the coal cutter control method according to any of the above embodiments has all the advantages and technical effects of the coal cutter control system or the coal cutter control method according to any of the above embodiments, and details are not described herein.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor) 610, a communication Interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a method of shearer control, the method comprising: after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to run to a preset rated speed, and accelerating a traction motor of the coal mining machine; monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time; and adjusting the operation speed of the cutting motor and/or the traction motor in real time based on the cutting operation parameter and the traction operation parameter until any one of the cutting operation parameter and the traction operation parameter reaches a corresponding preset upper limit value.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method of shearer control provided by the above methods, the method comprising: after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to run to a preset rated speed, and accelerating a traction motor of the coal mining machine; monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time; and adjusting the operation speed of the cutting motor and/or the traction motor in real time based on the cutting operation parameter and the traction operation parameter until any one of the cutting operation parameter and the traction operation parameter reaches a corresponding preset upper limit value.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a shearer control method, the method comprising: after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to run to a preset rated speed, and accelerating a traction motor of the coal mining machine; monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time; and adjusting the operation speed of the cutting motor and/or the traction motor in real time based on the cutting operation parameter and the traction operation parameter until any one of the cutting operation parameter and the traction operation parameter reaches a corresponding preset upper limit value.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A control method for a coal mining machine is characterized by comprising the following steps:
after the coal mining machine is electrified and started, controlling a cutting motor of the coal mining machine to operate to a preset rated speed, and accelerating a traction motor of the coal mining machine;
monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time;
and adjusting the operation speed of the cutting motor and/or the traction motor in real time based on the cutting operation parameter and the traction operation parameter until any one of the cutting operation parameter and the traction operation parameter reaches a corresponding preset upper limit value.
2. The shearer control method of claim 1, wherein the adjusting the operating speed of the cutting motor and/or the haulage motor in real time based on the cutting operation parameters and the haulage operation parameters comprises:
determining whether the traction operation parameter reaches a first preset adjustment limit value, wherein the first preset adjustment limit value is a preset adjustment limit value of the traction motor;
when any one operation parameter of the traction motor reaches the first preset adjustment limit value and the cutting operation parameter is smaller than the corresponding preset upper limit value, the operation speed of the cutting motor is increased;
otherwise, controlling the cutting motor and the traction motor to operate at the current operating speed.
3. The shearer control method according to claim 2, wherein the increasing the operating speed of the cutting motor further comprises:
controlling the traction motor to increase the speed, and determining whether any one of the traction operation parameters reaches a corresponding preset upper limit value when the cutting operation parameter reaches a second preset adjustment limit value, wherein the second preset adjustment limit value is the preset adjustment limit value of the cutting motor;
if so, controlling the cutting motor and the traction motor to operate at the current operating speed;
if not, controlling the traction motor to increase the speed until any one of the cutting operation parameter and the traction operation parameter reaches the corresponding preset upper limit value.
4. The shearer control method according to claim 1, further comprising:
controlling an oil pump motor of the coal mining machine to operate;
real-time monitoring whether the rocker arm operating parameter of the oil pump motor meets the preset speed-up requirement, the preset speed-up requirement comprises: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of the preset power;
if so, controlling the oil pump motor to accelerate;
and if not, controlling the oil pump motor to operate at the current operating speed.
5. The shearer loader control method of claim 4, wherein after controlling the oil pump motor to accelerate, further comprising:
monitoring the rocker arm supporting force and the output power in real time;
and when the rocker arm supporting force meets the use requirement and/or the output power reaches the preset power upper limit, controlling the oil pump motor to operate at the current operating speed.
6. A shearer control system, comprising: the device comprises a parameter detection module, a cutting frequency converter, a traction frequency converter and a controller;
the parameter detection module is used for detecting cutting operation parameters of a cutting motor of the coal mining machine and traction operation parameters of a traction motor of the coal mining machine;
the cutting frequency converter is used for responding to a first control instruction and controlling the running speed of the cutting motor, and the first control instruction is an instruction which is generated by the controller and used for controlling the cutting motor based on the cutting running parameter and the traction running parameter;
the traction frequency converter is used for responding to a second control instruction to control the running speed of the traction motor, and the second control instruction is an instruction which is generated by the controller based on the cutting running parameter and the traction running parameter and is used for controlling the traction motor;
the controller is used for enabling the cutting motor to operate to a preset rated speed after the coal mining machine is powered on and started, enabling the traction motor to accelerate, monitoring cutting operation parameters of the cutting motor and traction operation parameters of the traction motor in real time, and enabling the operation speed of the cutting motor and/or the traction motor to be adjusted in real time based on the cutting operation parameters and the traction operation parameters until any one of the cutting operation parameters and the traction operation parameters reaches a corresponding preset upper limit value.
7. The shearer control system of claim 6, further comprising: an oil pump frequency converter;
the parameter detection module is also used for detecting the rocker arm operation parameters of an oil pump motor of the coal mining machine;
the oil pump frequency converter is used for responding to a third control instruction, controlling the running speed of the oil pump motor, wherein the third control instruction is an instruction which is generated by the controller and used for controlling the oil pump motor based on the rocker arm running parameter and a preset speed-increasing requirement;
the controller is also used for enabling the oil pump motor to operate, monitoring whether the rocker arm operation parameter of the oil pump motor meets a preset speed-up requirement in real time, and enabling the oil pump motor to accelerate when the rocker arm operation parameter meets the preset speed-up requirement, or else enabling the oil pump motor to operate at the current operation speed;
the preset speed-up requirement comprises: the supporting force of the rocker arm does not meet the use requirement, and the output power of the oil pump motor is smaller than the upper limit of the preset power.
8. A shearer loader comprising a shearer loader control system according to claim 6 or 7 or controlled using a shearer loader control method according to any of claims 1 to 5.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the shearer control method according to any one of claims 1 to 5.
10. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the shearer control method of any of claims 1 to 5.
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Also Published As
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| CN115949405B (en) | 2023-06-02 |
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