CN102797462A - Automatic cutting control system and automatic cutting control method for coal cutter - Google Patents

Abstract

The invention discloses an automatic cutting control system and an automatic cutting control method for a coal cutter. The control system comprises a controller, a data storage device, a working condition detection apparatus for the coal cutter and a control host. The working condition detection apparatus for the coal cutter comprises a walking displacement detection unit, an angle detection unit one for detecting the swing angle of a right rocker arm, an angle detection unit two for detecting the inclination angle of a working face, an angle detection unit three for detecting the swing angle of a left rocker arm, and an angle detection unit four for detecting the upward or downward angle of the coal cutter. A left height adjustment oil cylinder and a right height adjustment oil cylinder are both controlled by the controller. The control method comprises the steps of: 1) learning and memorizing the cutting trace of the currently working coal seam; 2) accomplishing the automatic coal cutting according to the memorized trace, and adjusting the memorized trace in real time; 3) repeating step 2) until all the exploration processes of the currently working coal seal is finished. The system of the invention is advantageous by a simple circuit, a reasonable design, a convenient control method, and good application effect, and can realize the automatic cutting control of the coal cutter.

Description

A kind of coal-winning machine automatic cutting control system and automatic cutting control method

Technical field

The invention belongs to coal-winning machine cut control technology field, especially relate to a kind of coal-winning machine automatic cutting control system and automatic cutting control method.

Background technology

The recoverable reserves of China's girdle is abundant, and storage requirement is more stable, and ature of coal is better, and the exploitation dynamics to girdle strengthens gradually in recent years, and thinner seam has gradually become main mining coal seam.But at present, be applicable to that the mechanization degree of thinner seam and thin seam mining is also lower, adopt the big gun mode of adopting to exploit mostly, not only yield poorly, and accident is many, workman's work under bad environment, potential safety hazard are very big.Thereby, be badly in need of solving above-mentioned thin seam mining problem along with pay attention to day by day to thin seam mining.Solve the mining problem of girdle, fundamentally from heavy physical labor and abominable dangerous environment, free the people, basic way also is the increasingly automated, intelligent of extractive equipment machinery.In addition, along with science and technology development, few people or manless coal face will be the certainty of following coal-mining technique development.To sum up,, free the people from abominable, dangerous colliery subsurface environment to a certain extent, reduce labour intensity, need improve making it have automatic cut function coal-winning machine for improving extractive equipment automation, intelligent level.

Summary of the invention

Technical problem to be solved by this invention is to above-mentioned deficiency of the prior art, and a kind of simple in structure, reasonable in design, use is easy and simple to handle and result of use is good coal-winning machine automatic cutting control system is provided.

For solving the problems of the technologies described above; The technical scheme that the present invention adopts is: a kind of coal-winning machine automatic cutting control system; The coal-winning machine of being controlled is a double-ended shearer; And the left cutting units of said double-ended shearer comprises through jointed shaft and is hinged on left rocking arm on the coal-winning machine fuselage, is installed in the left cutting motor that rolls left tube and the tube that rolls left is driven of left rocking arm front end, and the right cutting units of said double-ended shearer comprises through jointed shaft and is hinged on right rocking arm on the coal-winning machine fuselage, is installed in the right cylinder of right rocking arm front end and the right cutting motor that right cylinder is driven; Said left rocking arm and left adjust high cylinder are in transmission connection, and right rocking arm and right adjust high cylinder are in transmission connection; The left lateral that is installed on coal-winning machine fuselage lower left walks that case is driven by left traction electric machine and itself and left traction electric machine are in transmission connection; Be installed on that the bottom-right right lateral of coal-winning machine fuselage walks that case is driven by right traction electric machine and itself and right traction electric machine are in transmission connection, it is characterized in that: the data storage that comprises controller, joins with controller, the coal-winning machine operating mode checkout gear that the actual operating state of said double-ended shearer is detected in real time and the main control system that carries out two-way communication with wired or wireless communication mode and controller; Said coal-winning machine operating mode checkout gear comprises walking displacement detecting unit that the walking displacement to the coal-winning machine fuselage detects in real time, to the angle between right rocking arm and the horizontal plane ₁The angular detection unit one that detects in real time, to the coal-winning machine fuselage along the direction of travel of exploitation work plane and the angle between the horizontal plane ₂The angular detection unit two that detects in real time, to the angle between left rocking arm and the horizontal plane ₃The angular detection unit three that detects in real time and to the direction of propulsion of said double-ended shearer and the angle between the horizontal plane ₄The angular detection unit four that detects in real time; Said left adjust high cylinder and right adjust high cylinder are controlled by controller, and walking displacement detecting unit, angular detection unit one, angular detection unit two, angular detection unit three and angular detection unit four all join with controller; Said left traction electric machine and right traction electric machine are controlled by controller and the two all joins with controller.

Above-mentioned a kind of coal-winning machine automatic cutting control system is characterized in that: said coal-winning machine operating mode checkout gear also comprises the speed of travel detecting unit that the speed of travel to the coal-winning machine fuselage detects in real time, and said speed of travel detecting unit and controller join.

Simultaneously, the invention also discloses a kind of method step simple, realize convenient and control the coal-winning machine automatic cutting control method effective, that practical value is high, it is characterized in that this method may further comprise the steps:

The cutting track of step 1, the current institute of memory working seam mainly may further comprise the steps:

Step 101, multi-sensor data collection and stores synchronized: according to the conventional coal-mining method of double-ended shearer, the said double-ended shearer of Artificial Control is accomplished a coal-face cycle operation of current institute working seam; And in this coal-face cycle operation process, manual work is controlled said left adjust high cylinder and right adjust high cylinder;

The said double-ended shearer of Artificial Control is accomplished in the coal-face cycle operation process of current institute working seam; Said coal-winning machine operating mode checkout gear detects according to the actual operating mode of predefined sample frequency to said double-ended shearer in real time; And data sync is detected in institute be uploaded to controller; The said double-ended shearer of corresponding acquisition is in the actual operating mode data of a plurality of sampling instants, and controller is stored in the data storage according to the actual operating mode data of sequencing with a plurality of sampling instants of sampling from front to back;

The sample frequency of walking displacement detecting unit, angular detection unit one, angular detection unit two, angular detection unit three and angular detection unit four is all identical in the said coal-winning machine operating mode checkout gear; Said double-ended shearer includes 5 duty parameters in the actual operating mode data of each sampling instant, and 5 said duty parameters are respectively s, α ₁, α ₂, α ₃And α ₄, wherein s is the walking displacement of coal-winning machine fuselage, α ₁Be the angle between right rocking arm and the horizontal plane, α ₂By the coal-winning machine fuselage along direction of travel and the angle between the horizontal plane of exploitation work plane, α ₃Be the angle between left rocking arm and the horizontal plane, and α ₄Be the direction of propulsion of said double-ended shearer and the angle between the horizontal plane;

Step 102, coal-winning machine cut attitude data obtain and stores synchronized: said controller receive detect data after; According to the sampling sequencing actual operating mode data of a plurality of sampling instants are carried out analyzing and processing respectively; The said double-ended shearer of corresponding acquisition is at the cut attitude data of a plurality of sampling instants, and is stored to the cut attitude data of a plurality of sampling instants in the data storage from front to back according to the sampling sequencing;

Said controller is all identical to the analysis and processing method of the actual operating mode data of a plurality of sampling instants; Actual operating mode data for any sampling instant; Said controller calls rocker arm of coal mining machine cut attitude Mathematical Modeling, with the α in the actual operating mode data of this sampling instant that obtains in the step 101 ₁, α ₂, α ₃And α ₄Be scaled H ₃And H ₄, the said double-ended shearer of corresponding acquisition is at the cut attitude data of this sampling instant;

Said double-ended shearer includes 3 duty parameters at the cut attitude data of each sampling instant, and 3 said duty parameters are respectively s, H ₃And H ₄, wherein s is the walking displacement of coal-winning machine fuselage, H ₃For the height of right cylinder and its by centre of the drum's line of right cylinder to the vertical distance of exploitation work plane base plate, H ₄For height and its of the tube that rolls left by centre of the drum's line of the tube that rolls left to the vertical distance of exploitation work plane base plate;

Said rocker arm of coal mining machine cut attitude Mathematical Modeling is an equation group:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="3"\; label="H"\; filenames="HDA00001947836200031.png,HDA00001947836200041.png"\; state="\{\{state\}\}">H</figure-callout>}}_3={\mathrm{<figure-callout\; id="1"\; label="H"\; filenames="HDA00001947836200031.png,HDA00001947836200041.png"\; state="\{\{state\}\}">H</figure-callout>}}_1+L\&CenterDot;\mathrm{Sin}({\mathrm{\&alpha;}}_1-{\mathrm{\&alpha;}}_2)-L_0\&CenterDot;\mathrm{Tg}{\mathrm{\&alpha;}}_4\\ {\mathrm{<figure-callout\; id="4"\; label="H"\; filenames="HDA00001947836200031.png,HDA00001947836200041.png"\; state="\{\{state\}\}">H</figure-callout>}}_4=H_1-L\&CenterDot;\mathrm{Sin}({\mathrm{\&alpha;}}_3-{\mathrm{\&alpha;}}_2)-L_0\&CenterDot;\mathrm{Tg}{\mathrm{\&alpha;}}_4\end{array}\right.,$ L is the length of left rocking arm and right rocking arm in the formula, H ₁For the jointed shaft height of left rocking arm and right rocking arm and its by the shaft centre line of said jointed shaft to the vertical distance of exploitation work plane base plate, α ₁Be the angle between right rocking arm and the horizontal plane, α ₂By the coal-winning machine fuselage along direction of travel and the angle between the horizontal plane of exploitation work plane, α ₃Be the angle between left rocking arm and the horizontal plane, α ₄Be the direction of propulsion of said double-ended shearer and the angle between the horizontal plane, L ₀Be the fuselage center of coal-winning machine fuselage distance to roll left tube middle part or right cylinder middle part;

Wherein, when right rocking arm for obliquely the time, α ₁For just; And when right rocking arm is oblique following time, α ₁For negative;

When the coal-winning machine fuselage along the direction of travel of exploitation work plane for obliquely the time, α ₂For just; And when the coal-winning machine fuselage is oblique following time along the direction of travel of exploitation work plane, α ₂For negative;

When left rocking arm for obliquely the time, α ₃For just; And when left rocking arm is oblique following time, α ₃For negative;

When coal-winning machine is faced upward when adopting α ₄For just; And when coal-winning machine is bowed when adopting α ₄For negative;

Step 103, coal-winning machine left side rocking arm cutting track curve and right rocking arm cutting track curve acquisition and stores synchronized: said controller or main control system are according to s and H in the cut attitude data of a plurality of sampling instants that obtain in the step 102 ₄, and adopt conventional least square method, and simulating the left rocking arm cutting track curve in a coal-face cycle operation of the current institute's working seam process, said left rocking arm cutting track curve is H ₄Curve with the s variation; Simultaneously, said controller or main control system are according to s and H in the cut attitude data of a plurality of sampling instants that obtain in the step 102 ₃, and adopt conventional least square method, and simulating the right rocking arm cutting track curve in a coal-face cycle operation of the current institute's working seam process, said right rocking arm cutting track curve is H ₃Curve with the s variation; Simultaneously, all be stored to left rocking arm cutting track curve that is obtained and right rocking arm cutting track curve in the data storage;

Step 2, cut control automatically: according to the conventional coal-mining method of double-ended shearer, controller is controlled the next coal-face cycle operation that said double-ended shearer is accomplished current institute working seam automatically; In the next coal-face cycle operation process of current institute working seam, left traction electric machine and right traction electric machine are controlled by controller;

And in the next coal-face cycle operation of current institute working seam; Walking displacement detecting unit in the said coal-winning machine operating mode checkout gear detects according to the walking displacement of the sample frequency of setting to the coal-winning machine fuselage in real time, it is said that and institute's detecting position shift delivered to controller; The displacement data that said controller combines walking displacement detecting unit to be detected; And based on left rocking arm cutting track curve of being stored in the data storage described in the step 103 and right rocking arm cutting track curve; Said left adjust high cylinder and right adjust high cylinder are controlled respectively, thereby realized automatic cut;

Step 3, repeating step two repeatedly are until whole recovery process of accomplishing current institute working seam.

Said method; It is characterized in that: in the step 102 for the actual operating mode data of any sampling instant; Obtain said double-ended shearer behind the cut attitude data of this sampling instant; Said controller also need call the fusion processing module; And according to the fusion processing method of routine, the said double-ended shearer of obtain is carried out fusion processing at the cut attitude data of this sampling instant, and the said double-ended shearer of corresponding acquisition is at the best cut attitude data of this sampling instant;

When in the step 103 said left rocking arm cutting track curve being carried out match, said controller or main control system are according to s and H in the best cut attitude data of a plurality of sampling instants that obtain in the step 102 ₄Carry out match; And when said right rocking arm cutting track curve was carried out match, said controller or main control system were according to s and H in the best cut attitude data of a plurality of sampling instants that obtain in the step 102 ₃Carry out match.

Said method; It is characterized in that: after the operating mode of coal-winning machine described in the step 101 checkout gear is uploaded to controller with institute's detection data sync; Said controller also needs according to the direct convolutional filtering method of routine or conventional recursive filtering method received detection data to be carried out Filtering Processing; It is said that controller is delivered to institute's detecting position shift in the displacement detecting of walking described in step 2 unit, said controller also needs according to the direct convolutional filtering method of routine or conventional recursive filtering method received displacement data to be carried out Filtering Processing.

Said method; It is characterized in that: carry out in the step 101 before the multi-sensor data collection; Also need to import roll left the height error threshold value h2 of tube and the height error threshold value h1 of right cylinder through the parameter input device of main control system or the parameter set unit of joining with controller; Store coal-winning machine cut attitude data storehouse in the said data storage; And store the standard cut attitude data of said double-ended shearer under a plurality of different working conditions in the said coal-winning machine cut attitude data storehouse, and comprise the walking displacement of said double-ended shearer under each working condition, the calibrated altitude h of the tube that rolls left in the said standard cut attitude data ₂₀Calibrated altitude h with right cylinder ₁₀In the step 102 for the actual operating mode data of any sampling instant; Obtain said double-ended shearer behind the best cut attitude data of this sampling instant; Said controller also needs immediately the best cut attitude data that is obtained to be carried out the true and false and judges; And its true and false deterministic process is following: earlier coupling draws the standard cut attitude data with the equal working condition of this sampling instant in said coal-winning machine cut attitude data storehouse, the more best cut attitude data of this sampling instant is compared with the standard cut attitude data that coupling obtains afterwards: when contrast draws in the best cut attitude data of this sampling instant | H ₃-h ₁₀|＞h1 and/or | H ₄-h ₂₀| during＞h2, need stop the coal mining process of said double-ended shearer immediately, and angular detection unit one, angular detection unit two, angular detection unit three and angular detection unit four in the said coal-winning machine operating mode checkout gear are changed; Otherwise said controller continues the best cut attitude data of next sampling instant is carried out true and false judgement.

Said method; It is characterized in that: in the step 2 in the next coal-face cycle operation process of current institute working seam; Also need according to the method described in step 101 and the step 102; Obtain double-ended shearer described in the next coal-face cycle operation process at the cut attitude data of a plurality of sampling instants; Controller also need call said fusion processing module the cut attitude data of each sampling instant is carried out fusion processing afterwards, and the best cut attitude data of corresponding each sampling instant of acquisition; And; After said controller obtains the best cut attitude data of any sampling instant; All must carry out the true and false to the best cut attitude data that is obtained immediately judges; And its true and false deterministic process is following: earlier coupling draws the standard cut attitude data with the equal working condition of this sampling instant in said coal-winning machine cut attitude data storehouse, the more best cut attitude data of this sampling instant is compared with the standard cut attitude data that coupling obtains afterwards: when contrast draws in the best cut attitude data of this sampling instant | H ₃-h ₁₀|＞h1 and/or | H ₄-h ₂₀| during＞h2, need stop the coal mining process of said double-ended shearer immediately, and angular detection unit one, angular detection unit two, angular detection unit three and angular detection unit four in the said coal-winning machine operating mode checkout gear are changed; Otherwise said controller continues the best cut attitude data of next sampling instant is carried out true and false judgement.

Said method; It is characterized in that: the displacement data that controller described in the step 2 combines walking displacement detecting unit to be detected; And according to left rocking arm cutting track curve of being stored in the data storage described in the step 103 and right rocking arm cutting track curve; When said left adjust high cylinder and right adjust high cylinder were controlled respectively, its control procedure was following: said controller deposits descending walk of current state in data storage after displacement data that the displacement detecting unit detected saves as s0 earlier; Afterwards, utilize left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the data storage again, match the corresponding altitude information of tube and the altitude information of right cylinder of rolling left respectively with s0; Subsequently, said controller is controlled respectively said left adjust high cylinder and right adjust high cylinder according to the roll left altitude information of tube and the altitude information of right cylinder that coupling draws.

Said method is characterized in that: carry out in the step 101 before the multi-sensor data collection, also need through the parameter input device of main control system or the parameter set unit of joining with controller, input seam inclination change threshold Δ α ₂Carry out in the step 2 in the next coal-face cycle operation of current institute working seam; Also need to obtain double-ended shearer described in the next coal-face cycle operation process in the actual operating mode data of a plurality of sampling instants according to the described method of step 101; And; After said controller obtains the actual operating mode data of any sampling instant; All must carry out the track correction to the actual operating mode data that obtained immediately and judge, and its track correction deterministic process is following: earlier with the α in the acquisition actual operating mode data ₂With the α in the actual operating mode data of this sampling instant of being stored in the step 101 ₂Carry out difference relatively: when the difference between the two greater than Δ α ₂The time, then need stop the coal mining process of said double-ended shearer immediately, and left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the said data storage revised through artificial modification method or automatic correcting method; Otherwise said controller carries out the track correction to the actual operating mode data of next sampling instant and judges;

Wherein, When the left rocking arm cutting track curve stored in the data memory and right rocking arm cutting track curve being revised through artificial modification method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube and the height of right cylinder are adjusted to rolling left under the current state; Afterwards, artificial through the parameter input device of main control system or the parameter set unit of joining with controller, with in the said data storage the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₃And H ₄, replace with the adjusted altitude information of tube and the altitude information of right cylinder of rolling left under the current state respectively;

When the left rocking arm cutting track curve stored in the data memory and right rocking arm cutting track curve being revised through automatic correcting method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube and the height of right cylinder are adjusted to rolling left under the current state; Afterwards, said controller is according to altitude information and the altitude information of right cylinder of the adjusted tube that rolls left, in the said data storage the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₃And H ₄Make amendment respectively.

Said method; It is characterized in that: carry out in the step 2 in the next coal-face cycle operation of current institute working seam; Also need artificially the coal seam conditions of current coal-face and/or the emergency situations that possibly occur to be carried out the whole process monitoring; When observation draw in coal seam conditions and the step 1 of coal-face under the current state to carry out the coal seam conditions of opposite position in the coal-face cycle operation process distinct or when emergency situations occurring; Need stop the coal mining process of said double-ended shearer immediately, and left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the said data storage revised through artificial modification method or automatic correcting method;

Wherein, When the left rocking arm cutting track curve stored in the data memory and right rocking arm cutting track curve being revised through artificial modification method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube and the height of right cylinder are adjusted to rolling left under the current state; Afterwards, artificial through the parameter input device of main control system or the parameter set unit of joining with controller, with in the said data storage the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₃And H ₄, replace with the adjusted altitude information of tube and the altitude information of right cylinder of rolling left under the current state respectively;

When the left rocking arm cutting track curve stored in the data memory and right rocking arm cutting track curve being revised through automatic correcting method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube and the height of right cylinder are adjusted to rolling left under the current state; Afterwards, said controller is according to altitude information and the altitude information of right cylinder of the adjusted tube that rolls left, in the said data storage the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₃And H ₄Make amendment respectively.

The present invention compared with prior art has the following advantages:

1, the automatic cutting control system circuit that is adopted is simple, reasonable in design and lay easy for installationly, and input cost is lower.

2, that the automatic cutting control system that adopted uses is easy and simple to handle, be easy to control and intelligent degree is high.

3, the automatic cutting control method step that is adopted is simple, reasonable in design and realization is convenient, control is effective; Coal-winning machine moves a coal-face cycle operation earlier under mode of learning after; The cutting track of the current institute of corresponding memory working seam; Be the cutting track data at each walking position place, for coal-winning machine moves automatically the aim curve addressing be provided under memory pattern, and then reach the purpose of heightening automatically at the diverse location place.In the automatic mode, coal-winning machine moves whole cut flow process automatically according to the cutting track data of being remembered, and realizes automatic coal cutting.

4, actual carry out multi-sensor data collection after; Need that also the detection data are carried out the true and false and judge, and corresponding sensor is changed, to guarantee the accuracy of Data Detection in the whole coal mining process according to true and false judged result; And authenticating method is simple, and it is convenient to realize.

5, in the automatic cut process, adopt the manual intervention priority principle, the coal-winning machine operating personnel can adjust running status as required at any time; Carry out manual intervention; And data memory revised, make automatic cut data more accurate, realize self-adapting operation to a certain extent.When coal-winning machine moves under memory cut pattern automatically; Cutting track data under mode of learning, to be remembered are moved according to carrying out automatic cut as main; The coal-face undulating state changes, coal seam conditions changes, when emergency situations (like situations such as hydraulic support do not support to place) etc. takes place; Carry out the track correction, thereby cut control is more accurate automatically, intelligent degree is higher.Simultaneously, modification method is simple, and it is convenient to realize.Manual intervention not only can be revised at coal-winning machine self, also can revise through main control system long-range.Automatically revising is the process of coal-winning machine memory cut system works data parameters fine setting, also is the process of coal-winning machine system to the further adaptation of fully-mechanized mining working, the work track that cylinder was heightened when revised cutting track will circulate automatic coal cutting as next.

6, practical value is high, can realize the automatic cut control of coal-winning machine, frees the people from abominable, dangerous colliery subsurface environment to a certain extent, has reduced labour intensity significantly.

In sum, circuit system of the present invention is simple, reasonable in design and control method is easy, result of use is good, can realize the automatic cut control of coal-winning machine.

Through accompanying drawing and embodiment, technical scheme of the present invention is done further detailed description below.

Description of drawings

Fig. 1 is the schematic block circuit diagram of institute of the present invention employing coal-winning machine automatic cutting control system.

Fig. 2 is the method flow block diagram of institute of the present invention employing coal-winning machine automatic cutting control method.

Fig. 3 is the structural representation of institute of the present invention employing double-ended shearer along the work plane direction of travel.

Fig. 4 faces upward the side portion structure sketch map when adopting for institute of the present invention employing double-ended shearer.

Fig. 5 is the institute of the present invention employing double-ended shearer side portion structure sketch map when adopting of bowing.

Description of reference numerals:

The specific embodiment

A kind of coal-winning machine automatic cutting control system as shown in Figure 1; The coal-winning machine of being controlled is a double-ended shearer; And the left cutting units of said double-ended shearer comprises through jointed shaft and is hinged on left rocking arm 2 on the coal-winning machine fuselage 1, is installed in the left cutting motor that rolls left tube 3 and the tube 3 that rolls left is driven of left rocking arm 2 front ends; The said tube 3 that rolls left is in transmission connection with said left cutting motor; And the right cutting units of said double-ended shearer comprises through jointed shaft and is hinged on right Rocker arm 4 on the coal-winning machine fuselage 1, is installed in the right cylinder 5 of right Rocker arm 4 front end and the right cutting motor that right cylinder 5 is driven that said right cylinder 5 is in transmission connection with said right cutting motor; Said left rocking arm 2 is in transmission connection with left adjust high cylinder, and right Rocker arm 4 and right adjust high cylinder are in transmission connection; The left lateral that is installed on coal-winning machine fuselage 1 lower left walks that case is driven by left traction electric machine 19 and itself and left traction electric machine 19 are in transmission connection; Be installed on that coal-winning machine fuselage 1 bottom-right right lateral walks that case is driven by right traction electric machine 20 and itself and right traction electric machine 20 are in transmission connection, the data storage 18 that this automatic cutting control system comprises controller 14, join with controller 14, the coal-winning machine operating mode checkout gear that the actual operating state of said double-ended shearer is detected in real time and the main control system 15 that carries out two-way communication with wired or wireless communication mode and controller 14.

Said coal-winning machine operating mode checkout gear comprises walking displacement detecting unit 8 that the walking displacement to coal-winning machine fuselage 1 detects in real time, to the angle between right Rocker arm 4 and the horizontal plane ₁The angular detection unit 1 that detects in real time, to coal-winning machine fuselage 1 along the direction of travel of the work plane of exploiting and the angle between the horizontal plane ₂The angular detection unit 2 11 that detects in real time, to the angle between left rocking arm 2 and the horizontal plane ₃The angular detection unit 3 12 that detects in real time and to the direction of propulsion of said double-ended shearer and the angle between the horizontal plane ₄The angular detection unit 4 13 that detects in real time; Said left adjust high cylinder and right adjust high cylinder are controlled by controller 14, and walking displacement detecting unit 8, angular detection unit 1, angular detection unit 2 11, angular detection unit 3 12 and angular detection unit 4 13 all join with controller 14.Said left traction electric machine 19 controls by controller 14 with right traction electric machine 20 and the two all joins with controller 14.

In the present embodiment; Said angular detection unit 1 is the left rocking arm obliquity sensor that angle detects in real time that swings up and down to left rocking arm 2; Said angular detection unit 2 11 is by detecting the inclination angle of current exploitation work plane and just the rise and fall work plane obliquity sensor of situation of respective reaction coal-face, and said angular detection unit 3 12 is the right rocking arm obliquity sensor that angle detects in real time that swings up and down to right Rocker arm 4.

During actual the use; Connect the electromagnetic actuator adorned in the hydraulic circuit one one between said left adjust high cylinder 6 and the hydraulic oil container and join, and institute connects in the hydraulic circuit to be adorned between right adjust high cylinder 7 and the hydraulic oil container electromagnetic actuator two and controller 14 join with controller 14.In the present embodiment, said electromagnetic actuator one is a solenoid-operated proportional reversal valve 1, and said electromagnetic actuator two is a solenoid-operated proportional reversal valve 2 23.That is to say that said controller 14 is controlled said left adjust high cylinder and said right adjust high cylinder respectively through control solenoid-operated proportional reversal valve 1 and solenoid-operated proportional reversal valve 2 23.

In the present embodiment, said controller 14 joins through cable and main control system 15.

In the present embodiment, said coal-winning machine operating mode checkout gear also comprises the speed of travel detecting unit 9 that the speed of travel to coal-winning machine fuselage 1 detects in real time, and said speed of travel detecting unit 9 joins with controller 14.

Simultaneously, institute of the present invention employing coal-winning machine automatic cutting control system also comprises the parameter set unit 21 of joining with controller 14.

A kind of coal-winning machine automatic cutting control method as shown in Figure 2 may further comprise the steps:

The cutting track of step 1, the current institute of memory working seam mainly may further comprise the steps:

Step 101, multi-sensor data collection and stores synchronized: according to the conventional coal-mining method of double-ended shearer, the said double-ended shearer of Artificial Control is accomplished a coal-face cycle operation of current institute working seam; And in this coal-face cycle operation process, manual work is controlled said left adjust high cylinder and right adjust high cylinder.

The said double-ended shearer of Artificial Control is accomplished in the coal-face cycle operation process of current institute working seam; Said coal-winning machine operating mode checkout gear detects according to the actual operating mode of predefined sample frequency to said double-ended shearer in real time; And data sync is detected in institute be uploaded to controller 14; The said double-ended shearer of corresponding acquisition is in the actual operating mode data of a plurality of sampling instants, and controller 14 is stored in the data storage 18 according to the actual operating mode data of sampling sequencing with a plurality of sampling instants from front to back.

The sample frequency of walking displacement detecting unit 8, angular detection unit 1, angular detection unit 2 11, angular detection unit 3 12 and angular detection unit 4 13 is all identical in the said coal-winning machine operating mode checkout gear.Said double-ended shearer includes 5 duty parameters in the actual operating mode data of each sampling instant, and 5 said duty parameters are respectively s, α ₁, α ₂, α ₃And α ₄, wherein s is the walking displacement of coal-winning machine fuselage 1, α ₁Be the angle between right Rocker arm 4 and the horizontal plane, α ₂By coal-winning machine fuselage 1 along direction of travel and the angle between the horizontal plane of exploitation work plane, α ₃Be the angle between left rocking arm 2 and the horizontal plane, and α ₄Be the direction of propulsion of said double-ended shearer and the angle between the horizontal plane.

Wherein, α ₁Be the angle of inclination of right Rocker arm 4, and α ₁Be specially right Rocker arm 4 along the angle of work plane direction of travel and horizontal plane (promptly on the work plane direction of travel, the angle between right Rocker arm 4 and the horizontal plane); And α ₃Be the angle of inclination of left rocking arm 2, α ₃Be specially left rocking arm 2 along the angle of work plane direction of travel and horizontal plane (promptly on the work plane direction of travel, the angle between left rocking arm 2 and the horizontal plane); α ₄For facing upward of said double-ended shearer adopted angle or bowed and adopt angle.

In the present embodiment; Said coal-winning machine operating mode checkout gear also comprises the speed of travel detecting unit 9 that the speed of travel to coal-winning machine fuselage 1 detects in real time; Said double-ended shearer includes 6 duty parameters in the actual operating mode data of each sampling instant, and 6 said duty parameters are respectively s, v, α ₁, α ₂, α ₃And α ₄, wherein v is the speed of travel of coal-winning machine fuselage 1.

In the present embodiment; After the operating mode of coal-winning machine described in the step 101 checkout gear is uploaded to controller 14 with institute's detection data sync; Said controller 14 also needs according to the direct convolutional filtering method of routine or conventional recursive filtering method received detection data to be carried out Filtering Processing.

Wherein, direct convolutional filtering method is for utilizing formula

With arbitrary input signal x _n, obtain an output signal y through filtering _n, filtering factor h wherein _r, promptly discrete impulsive response sequence is limited m item.

The recursive filtering method is about to the y of first convolution filter output for two convolution filters are joined by feedback form _nAgain after second convolution filter carries out convolutional filtering Be added to the output g of first convolution filter with negative-feedback _nGet on, wherein the filtering factor of first convolution filter is h _r, r=0,1 ..., m-1; The filtering factor of second convolution filter does

S=1,2 ..., l, then $g_n=\underset{r=0}{\overset{m-1}{\mathrm{\&Sigma;}}}{h}_r{x}_{n-r},$ $g_n^{\&prime;}=\underset{s=1}{\overset{l}{\mathrm{\&Sigma;}}}{h}_s^{\&prime;}{y}_{n-s},$ Draw thus $y_n=g_n-g_n^{\&prime;}=\underset{r=0}{\overset{m-1}{\mathrm{\&Sigma;}}}{h}_r{x}_{n-r}-\underset{s=1}{\overset{l}{\mathrm{\&Sigma;}}}{h}_s^{\&prime;}{y}_{n-s}.$

Step 102, coal-winning machine cut attitude data obtain and stores synchronized: said controller 14 receive detect data after; According to the sampling sequencing actual operating mode data of a plurality of sampling instants are carried out analyzing and processing respectively; The said double-ended shearer of corresponding acquisition is at the cut attitude data of a plurality of sampling instants, and is stored to from front to back in the data storage 18 according to the cut attitude data of sampling sequencing with a plurality of sampling instants.

The analysis and processing method of the actual operating mode data of 14 pairs of a plurality of sampling instants of said controller is all identical; Actual operating mode data for any sampling instant; Said controller 14 calls rocker arm of coal mining machine cut attitude Mathematical Modeling, with the α in the actual operating mode data of this sampling instant that obtains in the step 101 ₁, α ₂, α ₃And α ₄Be scaled H ₃And H ₄, the said double-ended shearer of corresponding acquisition is at the cut attitude data of this sampling instant.

Said double-ended shearer includes 3 duty parameters at the cut attitude data of each sampling instant, and 3 said duty parameters are respectively s, H ₃And H ₄, wherein s is the walking displacement of coal-winning machine fuselage 1, H ₃For the height of right cylinder 5 and its by centre of the drum's line of right cylinder 5 to the vertical distance of exploitation work plane base plate, H ₄For roll left tube 3 height and its by centre of the drum's line of the tube 3 that rolls left to the vertical distance of exploitation work plane base plate;

Said rocker arm of coal mining machine cut attitude Mathematical Modeling is an equation group:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="3"\; label="H"\; filenames="HDA00001947836200031.png,HDA00001947836200041.png"\; state="\{\{state\}\}">H</figure-callout>}}_3={\mathrm{<figure-callout\; id="1"\; label="H"\; filenames="HDA00001947836200031.png,HDA00001947836200041.png"\; state="\{\{state\}\}">H</figure-callout>}}_1+L\&CenterDot;\mathrm{Sin}({\mathrm{\&alpha;}}_1-{\mathrm{\&alpha;}}_2)-L_0\&CenterDot;\mathrm{Tg}{\mathrm{\&alpha;}}_4\\ {\mathrm{<figure-callout\; id="4"\; label="H"\; filenames="HDA00001947836200031.png,HDA00001947836200041.png"\; state="\{\{state\}\}">H</figure-callout>}}_4=H_1-L\&CenterDot;\mathrm{Sin}({\mathrm{\&alpha;}}_3-{\mathrm{\&alpha;}}_2)-L_0\&CenterDot;\mathrm{Tg}{\mathrm{\&alpha;}}_4\end{array}\right.,$ L is the length of left rocking arm 2 and right Rocker arm 4 in the formula, H ₁For the jointed shaft height of left rocking arm 2 and right Rocker arm 4 and its shaft centre line for said jointed shaft arrive the vertical distance of exploitation work plane base plate, α ₁Be the angle between right Rocker arm 4 and the horizontal plane, α ₂By coal-winning machine fuselage 1 along direction of travel and the angle between the horizontal plane of exploitation work plane, α ₃Be the angle between left rocking arm 2 and the horizontal plane, α ₄Be the direction of propulsion of said double-ended shearer and the angle between the horizontal plane, L ₀Be the fuselage center of coal-winning machine fuselage 1 distance to roll left tube 3 middle parts or right cylinder 5 middle parts;

Wherein, α ₁Angular range be-75 °～+ 75 °, when right Rocker arm 4 for obliquely the time, α ₁For just; And when right Rocker arm 4 is oblique following time, α ₁For negative;

When coal-winning machine fuselage 1 along the direction of travel of the work plane of exploiting for obliquely the time, α ₂For just; And when coal-winning machine fuselage 1 is oblique following time along the direction of travel of the work plane of exploiting, α ₂For negative;

α ₃Angular range be-75 °～+ 75 °, when left rocking arm 2 for obliquely the time, α ₃For just; And when left rocking arm 2 is oblique following time, α ₃For negative;

When coal-winning machine is faced upward when adopting α ₄For just; And when coal-winning machine is bowed when adopting α ₄For negative.Face upward when adopting when coal-winning machine, the front side height and the rear side of coal-winning machine fuselage 1 are low; Bow when adopting when coal-winning machine, the front side of coal-winning machine fuselage 1 is low and rear side is high.

When reality is carried out modeling to said rocker arm of coal mining machine cut attitude Mathematical Modeling, carry out modeling according to Fig. 3, Fig. 4 and Fig. 5.

Can draw H by Fig. 3 ₂=Lsin (α ₁-α ₂), H ₃=H ₁+ H ₂=H ₁+ Lsin (α ₁-α ₂), H ₂=Lsin (α ₃-α ₂), H ₄=H ₁-H ₂=H ₁-Lsin (α ₃-α ₂).

Can be drawn by Fig. 4 and Fig. 5, said double-ended shearer is adopted and is bowed that the height tolerance of rocking arm cylinder is when adopting: Δ H=L facing upward ₀Tg α ₄

Can be drawn by above-mentioned formula, the tube 3 that rolls left of said double-ended shearer is at the height along advance of the face direction: H ₄=H ₁-Lsin (α ₃-α ₂)- _L0tg α ₄

The right cylinder 5 of said double-ended shearer is at the height along advance of the face direction: H ₃=H ₁+ Lsin (α ₁-α ₂)-L ₀Tg α ₄

Step 103, coal-winning machine left side rocking arm cutting track curve and right rocking arm cutting track curve acquisition and stores synchronized: said controller 14 or main control system 15 are according to s and H in the cut attitude data of a plurality of sampling instants that obtain in the step 102 ₄, and adopt conventional least square method, and simulating the left rocking arm cutting track curve in a coal-face cycle operation of the current institute's working seam process, said left rocking arm cutting track curve is H ₄Curve with the s variation; Simultaneously, said controller 14 or main control system 15 are according to s and H in the cut attitude data of a plurality of sampling instants that obtain in the step 102 ₃, and adopt conventional least square method, and simulating the right rocking arm cutting track curve in a coal-face cycle operation of the current institute's working seam process, said right rocking arm cutting track curve is H ₃Curve with the s variation; Simultaneously, left rocking arm cutting track curve that is obtained and right rocking arm cutting track curve all are stored in the data storage 18.

Actual when said left rocking arm cutting track curve and right rocking arm cutting track curve are carried out match, the cutting track collection of said double-ended shearer is based on the mining height value (being roller height) on the basis of coal-winning machine walking position.When for example said left rocking arm cutting track curve being carried out match, any walking position point of said double-ended shearer (s representes with a walking displacement) corresponding corresponding mining height point (height H of the tube 3 that promptly rolls left ₄).

So, can be with s and H ₄(x, y), (x during correlation between y), can obtain a series of paired data (x usually to study two variablees again to be defined as two variablees respectively ₁, y ₂), (x ₂, y ₂) ..., (x _i, y _i); Above-mentioned point data all is depicted in the x-y plane right-angle coordinate, finds these points near straight line, this seasonal this linear equation is Y=a ₀+ a ₁X (1-1).

Because in the coal-winning machine course of work, the coal-face initial length only is a coal petrography interface sub-fraction in the horizontal.Generally speaking, this than short distance in, suppose that the coal petrography interface meets with quadratic equation and use least square method and the object function that obtains is within the operating accuracy that requires.

For setting up this linear equation, will confirm a ₀And a ₁, use " principle of least square method ", measured value Y _iWith the calculated value (Y=a that utilizes formula (I-1) gained ₀+ a ₁X) deviation (Y _i-Y) quadratic sum (∑ (Y _i-Y) ²) minimum is " optimization criterion ".Even: Y=a ₀+ a ₁X _i+ a ₂X _i, after sampling finishes, obtain dependent constant through computing.

Order: φ=∑ (Y _i-a ₀-a ₁X-a ₂X ²) ², be to optimize criterion when getting minimum value, respectively to a ₀, a ₁, a ₂Differentiate, and make it equal zero:

$\frac{\&PartialD;\mathrm{\&phi;}}{\&PartialD;a_0}=-2\mathrm{\&Sigma;}(Y_i-a_o-a_1{X}_i-a_2{X_i}^2)=0;$

$\frac{\&PartialD;\mathrm{\&phi;}}{\&PartialD;a_1}=-2X_i\mathrm{\&Sigma;}(Y_i-a_o-a_1{X}_i-a_2{X_i}^2)=0;$

$\frac{\&PartialD;\mathrm{\&phi;}}{\&PartialD;a_2}=-2{{\mathrm{<figure-callout\; id="2"\; label="X\; i"\; filenames="HDA00001947836200031.png"\; state="\{\{state\}\}">X</figure-callout>}}_i}^2\mathrm{\&Sigma;}(Y_i-a_o-a_1{X}_i-a_2{X_i}^2)=0;$

Solve an equation and to get a ₀, a ₁And a ₂Value, thereby obtain aim curve.

In addition, the approximating method of said right rocking arm cutting track curve and above-mentioned said left rocking arm cutting track curve and approximating method identical.

Step 2, cut control automatically: according to the conventional coal-mining method of double-ended shearer, the said double-ended shearer of controller 14 controls is accomplished the next coal-face cycle operation of current institute working seam automatically; In the next coal-face cycle operation process of current institute working seam, control with right traction electric machine 20 by 14 pairs of left traction electric machines 19 of controller.

And in the next coal-face cycle operation of current institute working seam; Walking displacement detecting unit 8 in the said coal-winning machine operating mode checkout gear detects according to the walking displacement of the sample frequency of setting to coal-winning machine fuselage 1 in real time, it is said that and institute's detecting position shift delivered to controller 14; The displacement data that said controller 14 combines walking displacement detecting unit 8 to be detected; And according to left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the data storage described in the step 103 18; Said left adjust high cylinder and right adjust high cylinder are controlled respectively, thereby realized automatic cut.

Step 3, repeating step two repeatedly are until whole recovery process of accomplishing current institute working seam.

In the present embodiment; It is said that controller 14 is delivered to institute's detecting position shift in the displacement detecting unit of walking described in the step 28; Said controller 14 also needs according to the direct convolutional filtering method of routine or conventional recursive filtering method received displacement data to be carried out Filtering Processing.

In the present embodiment; In the step 102 for the actual operating mode data of any sampling instant; Obtain said double-ended shearer behind the cut attitude data of this sampling instant; Said controller 14 also need call the fusion processing module; And according to the fusion processing method of routine, the said double-ended shearer of obtain is carried out fusion processing at the cut attitude data of this sampling instant, and the said double-ended shearer of corresponding acquisition is at the best cut attitude data of this sampling instant.

Correspondingly, when in the step 103 said left rocking arm cutting track curve being carried out match, said controller 14 or main control system 15 are according to s and H in the best cut attitude data of a plurality of sampling instants that obtain in the step 102 ₄Carry out match; And when said right rocking arm cutting track curve was carried out match, said controller 14 or main control system 15 were according to s and H in the best cut attitude data of a plurality of sampling instants that obtain in the step 102 ₃Carry out match.

In the present embodiment; Carry out before the multi-sensor data collection in the step 101; Also need to import roll left the height error threshold value h2 of tube 3 and the height error threshold value h1 of right cylinder 5 through the parameter input device of main control system 15 or the parameter set unit 21 of joining with controller 14.Simultaneously; Store coal-winning machine cut attitude data storehouse in the said data storage 18; And store the standard cut attitude data of said double-ended shearer under a plurality of different working conditions in the said coal-winning machine cut attitude data storehouse, and comprise the walking displacement of said double-ended shearer under each working condition, the calibrated altitude h of the tube 3 that rolls left in the said standard cut attitude data ₂₀Calibrated altitude h with right cylinder 5 ₁₀Actual when coal-winning machine cut attitude data storehouse is set up, being summarized according to the actual condition of this double-ended shearer and corresponding empirical data by user or manufacturer draws.

In the step 102 for the actual operating mode data of any sampling instant; Obtain said double-ended shearer behind the best cut attitude data of this sampling instant; Said controller 14 also needs immediately the best cut attitude data that is obtained to be carried out the true and false and judges; And its true and false deterministic process is following: earlier coupling draws the standard cut attitude data with the equal working condition of this sampling instant in said coal-winning machine cut attitude data storehouse, the more best cut attitude data of this sampling instant is compared with the standard cut attitude data that coupling obtains afterwards: the best cut attitude data that draws this sampling instant when contrast | H ₄-h ₁₀|＞h1 and/or in | H ₃-h ₂₀| during＞h2, need stop the coal mining process of said double-ended shearer immediately, and angular detection unit 1, angular detection unit 2 11, angular detection unit 3 12 and angular detection unit 4 13 in the said coal-winning machine operating mode checkout gear are changed; Otherwise said controller 14 continues the best cut attitude data of next sampling instant is carried out true and false judgement.

Correspondingly; Carry out in the step 2 in the next coal-face cycle operation process of current institute working seam; Also need according to the method described in step 101 and the step 102; Obtain double-ended shearer described in the next coal-face cycle operation process at the cut attitude data of a plurality of sampling instants; Controller 14 also need call said fusion processing module the cut attitude data of each sampling instant is carried out fusion processing afterwards, and the best cut attitude data of corresponding each sampling instant of acquisition.

And; After said controller 14 obtains the best cut attitude data of any sampling instant; All must carry out the true and false to the best cut attitude data that is obtained immediately judges; And its true and false deterministic process is following: earlier coupling draws the standard cut attitude data with the equal working condition of this sampling instant in said coal-winning machine cut attitude data storehouse, the more best cut attitude data of this sampling instant is compared with the standard cut attitude data that coupling obtains afterwards: when contrast draws in the best cut attitude data of this sampling instant | H ₄-h ₁₀|＞h1 and/or in | H ₃-h ₂₀| during＞h2, need stop the coal mining process of said double-ended shearer immediately, and angular detection unit 1, angular detection unit 2 11, angular detection unit 3 12 and angular detection unit 4 13 in the said coal-winning machine operating mode checkout gear are changed; Otherwise said controller 14 continues the best cut attitude data of next sampling instant is carried out true and false judgement.

In the present embodiment; The displacement data that controller described in the step 2 14 combines walking displacement detecting unit 8 to be detected; And according to left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the data storage described in the step 103 18; When said left adjust high cylinder and right adjust high cylinder were controlled respectively, its control procedure was following: said controller 14 deposits descending walk of current state in data storage 18 after displacement data that displacement detecting unit 8 detected saves as s0 earlier; Afterwards, utilize left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the data storage 18 again, match the corresponding altitude information of tube 3 and the altitude information of right cylinder 5 of rolling left respectively with s0; Subsequently, said controller 14 is controlled respectively said left adjust high cylinder and right adjust high cylinder according to the roll left altitude information of tube 3 and the altitude information of right cylinder 5 that coupling draws.

In the present embodiment, carry out in the step 101 before the multi-sensor data collection, also need, input seam inclination change threshold Δ α through the parameter input device of main control system 15 or the parameter set unit 21 of joining with controller 14 ₂

Carry out in the step 2 in the next coal-face cycle operation of current institute working seam; Also need to obtain double-ended shearer described in the next coal-face cycle operation process in the actual operating mode data of a plurality of sampling instants according to the described method of step 101; And; After said controller 14 obtains the actual operating mode data of any sampling instant; All must carry out the track correction to the actual operating mode data that obtained immediately and judge, and its track correction deterministic process is following: earlier with the α in the acquisition actual operating mode data ₂With the α in the actual operating mode data of this sampling instant of being stored in the step 101 ₂Carry out difference relatively: when the difference between the two greater than Δ α ₂The time (in current fluctuating situation of exploiting coal-face and the step 101 in the recovery process fluctuating situation of work plane different); Then need stop the coal mining process of said double-ended shearer immediately, and left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the said data storage 18 revised through artificial modification method or automatic correcting method; Otherwise the actual operating mode data of 14 pairs of next sampling instants of said controller are carried out the track correction and are judged.

Wherein, When the left rocking arm cutting track curves stored in the data memory 18 and right rocking arm cutting track curve being revised through artificial modification method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube 3 and the height of right cylinder 5 are adjusted to rolling left under the current state; Afterwards, artificial through the parameter input device of main control system 15 or the parameter set unit 21 of joining with controller 14, with in the said data storage 18 the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₄And H ₃, replace with the adjusted altitude information of tube 3 and the altitude information of right cylinder 5 of rolling left under the current state respectively.

In the actual mechanical process, after the height of roll left under the current state tube 3 height and right cylinder 5 adjusted, also need adopt survey tool that the roll left height of tube 3 and the height of right cylinder 5 are measured respectively, obtain actual measured value.

When the left rocking arm cutting track curves stored in the data memory 18 and right rocking arm cutting track curve being revised through automatic correcting method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube 3 and the height of right cylinder 5 are adjusted to rolling left under the current state; Afterwards, said controller 14 is according to adjusted tube 3 the altitude information and the altitude information of right cylinder 5 of rolling left, in the said data storage 18 the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₃And H ₄Make amendment respectively.

For example, when revising through 14 pairs of said left rocking arm cutting track curves of controller, controller 14 is according to formula Make amendment, wherein

Need be revised numerical value, (x by storing in the left rocking arm cutting track curve corresponding position in the said data storage 18 _i, y _i) be that roll left under the current state height of tube 3 and the height of right cylinder 5 are carried out adjusted actual measured value, For revising the back value, Q is a correction factor.Through the modification method of 14 pairs of said right rocking arm cutting track curves of controller, identical with above-mentioned modification method to said left rocking arm cutting track curve.When the people when revising, that is to say correction factor Q=0 in the following formula.

In the present embodiment; Carry out in the step 2 in the next coal-face cycle operation of current institute working seam; Also need artificially the coal seam conditions of current coal-face and/or the emergency situations that possibly occur to be carried out the whole process monitoring; When observation draw in coal seam conditions and the step 1 of coal-face under the current state to carry out the coal seam conditions of opposite position in the coal-face cycle operation process distinct or when emergency situations occurring; Need stop the coal mining process of said double-ended shearer immediately, and left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the said data storage 18 revised through artificial modification method or automatic correcting method.Its modification method, with above-mentioned difference greater than Δ α ₂The time modification method identical.

Wherein, When the left rocking arm cutting track curves stored in the data memory 18 and right rocking arm cutting track curve being revised through artificial modification method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube 3 and the height of right cylinder 5 are adjusted to rolling left under the current state; Afterwards, artificial through the parameter input device of main control system 15 or the parameter set unit 21 of joining with controller 14, with in the said data storage 18 the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₄And H ₃, replace with the adjusted altitude information of tube 3 and the altitude information of right cylinder 5 of rolling left under the current state respectively;

When the left rocking arm cutting track curves stored in the data memory 18 and right rocking arm cutting track curve being revised through automatic correcting method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube 3 and the height of right cylinder 5 are adjusted to rolling left under the current state; Afterwards, said controller 14 is according to adjusted tube 3 the altitude information and the altitude information of right cylinder 5 of rolling left, in the said data storage 18 the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₄And H ₃Make amendment respectively.

The above; It only is preferred embodiment of the present invention; Be not that the present invention is done any restriction, every technical spirit changes any simple modification, change and the equivalent structure that above embodiment did according to the present invention, all still belongs in the protection domain of technical scheme of the present invention.

Claims (10)

1. coal-winning machine automatic cutting control system; The coal-winning machine of being controlled is a double-ended shearer; And the left cutting units of said double-ended shearer comprises through jointed shaft and is hinged on left rocking arm (2) on the coal-winning machine fuselage (1), is installed in the left cutting motor that rolls left tube (3) and the tube (3) that rolls left is driven of left rocking arm (2) front end, and the right cutting units of said double-ended shearer comprises through jointed shaft and is hinged on right rocking arm (4) on the coal-winning machine fuselage (1), is installed in the right cylinder (5) of right rocking arm (4) front end and the right cutting motor that right cylinder (5) is driven; Said left rocking arm (2) is in transmission connection with left adjust high cylinder, and right rocking arm (4) is in transmission connection with right adjust high cylinder; The left lateral that is installed on coal-winning machine fuselage (1) lower left walks that case is driven by left traction electric machine (19) and itself and left traction electric machine (19) are in transmission connection; Be installed on that the bottom-right right lateral of coal-winning machine fuselage (1) walks that case is driven by right traction electric machine (20) and itself and right traction electric machine (20) are in transmission connection, it is characterized in that: the data storage (18) that this automatic cutting control system comprises controller (14), join with controller (14), the coal-winning machine operating mode checkout gear that the actual operating state of said double-ended shearer is detected in real time and the main control system (15) that carries out two-way communication with wired or wireless communication mode and controller (14); Said coal-winning machine operating mode checkout gear comprises walking displacement detecting unit (8) that the walking displacement to coal-winning machine fuselage (1) detects in real time, to the angle between right rocking arm (4) and the horizontal plane ₁The angular detection unit one (10) that detects in real time, to coal-winning machine fuselage (1) along the direction of travel of the work plane of exploiting and the angle between the horizontal plane ₂The angular detection unit two (11) that detects in real time, to the angle between left rocking arm (2) and the horizontal plane ₃The angular detection unit three (12) that detects in real time and to the direction of propulsion of said double-ended shearer and the angle between the horizontal plane ₄The angular detection unit four (13) that detects in real time; Said left adjust high cylinder and right adjust high cylinder are controlled by controller (14), and walking displacement detecting unit (8), angular detection unit one (10), angular detection unit two (11), angular detection unit three (12) and angular detection unit four (13) all join with controller (14); Said left traction electric machine (19) and right traction electric machine (20) are controlled by controller (14) and the two all joins with controller (14).

2. according to the described a kind of coal-winning machine automatic cutting control system of claim 1; It is characterized in that: said coal-winning machine operating mode checkout gear also comprises the speed of travel detecting unit (9) that the speed of travel to coal-winning machine fuselage (1) detects in real time, and said speed of travel detecting unit (9) joins with controller (14).

3. a utilization is characterized in that as according to the said control of claim 1 system coal-winning machine being carried out the method that automatic cut is controlled this method may further comprise the steps:

The cutting track of step 1, the current institute of memory working seam mainly may further comprise the steps:

Step 101, multi-sensor data collection and stores synchronized: according to the conventional coal-mining method of double-ended shearer, the said double-ended shearer of Artificial Control is accomplished a coal-face cycle operation of current institute working seam; And in this coal-face cycle operation process, manual work is controlled said left adjust high cylinder and right adjust high cylinder;

The said double-ended shearer of Artificial Control is accomplished in the coal-face cycle operation process of current institute working seam; Said coal-winning machine operating mode checkout gear detects according to the actual operating mode of predefined sample frequency to said double-ended shearer in real time; And data sync is detected in institute be uploaded to controller (14); The said double-ended shearer of corresponding acquisition is in the actual operating mode data of a plurality of sampling instants, and controller (14) is stored in the data storage (18) according to the actual operating mode data of sampling sequencing with a plurality of sampling instants from front to back;

Walking displacement detecting unit (8), angular detection unit one (10) in the said coal-winning machine operating mode checkout gear, angular detection unit two (11), angular detection unit three (12) are all identical with the sample frequency of angular detection unit four (13); Said double-ended shearer includes 5 duty parameters in the actual operating mode data of each sampling instant, and 5 said duty parameters are respectively s, α ₁, α ₂, α ₃And α ₄, wherein s is the walking displacement of coal-winning machine fuselage (1), α ₁Be the angle between right rocking arm (4) and the horizontal plane, α ₂By coal-winning machine fuselage (1) along direction of travel and the angle between the horizontal plane of exploitation work plane, α ₃Be the angle between left rocking arm (2) and the horizontal plane, and α ₄Be the direction of propulsion of said double-ended shearer and the angle between the horizontal plane;

Step 102, coal-winning machine cut attitude data obtain and stores synchronized: said controller (14) receive detect data after; According to the sampling sequencing actual operating mode data of a plurality of sampling instants are carried out analyzing and processing respectively; The said double-ended shearer of corresponding acquisition is at the cut attitude data of a plurality of sampling instants, and is stored to from front to back in the data storage (18) according to the cut attitude data of sampling sequencing with a plurality of sampling instants;

Said controller (14) is all identical to the analysis and processing method of the actual operating mode data of a plurality of sampling instants; Actual operating mode data for any sampling instant; Said controller (14) calls rocker arm of coal mining machine cut attitude Mathematical Modeling, with the α in the actual operating mode data of this sampling instant that obtains in the step 101 ₁, α ₂, α ₃And α ₄Be scaled H ₃And H ₄, the said double-ended shearer of corresponding acquisition is at the cut attitude data of this sampling instant;

Said double-ended shearer includes 3 duty parameters at the cut attitude data of each sampling instant, and 3 said duty parameters are respectively s, H ₃And H ₄, wherein s is the walking displacement of coal-winning machine fuselage (1), H ₃For the height of right cylinder (5) and its by centre of the drum's line of right cylinder (5) to the vertical distance of exploitation work plane base plate, H ₄For height and its of the tube (3) that rolls left for centre of the drum's line of the tube (3) that rolls left arrive the vertical distance of exploitation work plane base plate;

Said rocker arm of coal mining machine cut attitude Mathematical Modeling is an equation group:

$\left\{\begin{array}{c}{H}_3=H_1+L\&CenterDot;\mathrm{Sin}({\mathrm{\&alpha;}}_1-{\mathrm{\&alpha;}}_2)-L_0\&CenterDot;\mathrm{Tg}{\mathrm{\&alpha;}}_4\\ H_4=H_1-L\&CenterDot;\mathrm{Sin}({\mathrm{\&alpha;}}_3-{\mathrm{\&alpha;}}_2)-L_0\&CenterDot;\mathrm{Tg}{\mathrm{\&alpha;}}_4\end{array}\right.,---\left(4\right)$ L is the length of left rocking arm (2) and right rocking arm (4) in the formula, H ₁For the jointed shaft height of left rocking arm (2) and right rocking arm (4) and its shaft centre line for said jointed shaft arrive the vertical distance of exploitation work plane base plate, α ₁Be the angle between right rocking arm (4) and the horizontal plane, α ₂By coal-winning machine fuselage (1) along direction of travel and the angle between the horizontal plane of exploitation work plane, α ₃Be the angle between left rocking arm (2) and the horizontal plane, α ₄Be the direction of propulsion of said double-ended shearer and the angle between the horizontal plane, L ₀Be the fuselage center of coal-winning machine fuselage (1) distance to roll left tube (3) middle part or right cylinder (5) middle part;

Wherein, when right rocking arm (4) for obliquely the time, α ₁For just; And when right rocking arm (4) is oblique following time, α ₁For negative;

When coal-winning machine fuselage (1) along the direction of travel of the work plane of exploiting for obliquely the time, α ₂For just; And when coal-winning machine fuselage (1) is oblique following time along the direction of travel of the work plane of exploiting, α ₂For negative;

When left rocking arm (2) for obliquely the time, α ₃For just; And when left rocking arm (2) is oblique following time, α ₃For negative;

When coal-winning machine is faced upward when adopting α ₄For just; And when coal-winning machine is bowed when adopting α ₄For negative;

Step 103, coal-winning machine left side rocking arm cutting track curve and right rocking arm cutting track curve acquisition and stores synchronized: said controller (14) or main control system (15) are according to s and H in the cut attitude data of a plurality of sampling instants that obtain in the step 102 ₄, and adopt conventional least square method, and simulating the left rocking arm cutting track curve in a coal-face cycle operation of the current institute's working seam process, said left rocking arm cutting track curve is H ₄Curve with the s variation; Simultaneously, said controller (14) or main control system (15) are according to s and H in the cut attitude data of a plurality of sampling instants that obtain in the step 102 ₃, and adopt conventional least square method, and simulating the right rocking arm cutting track curve in a coal-face cycle operation of the current institute's working seam process, said right rocking arm cutting track curve is H ₃Curve with the s variation; Simultaneously, left rocking arm cutting track curve that is obtained and right rocking arm cutting track curve all are stored in the data storage (18);

Step 2, cut control automatically: according to the conventional coal-mining method of double-ended shearer, the said double-ended shearer of controller (14) control is accomplished the next coal-face cycle operation of current institute working seam automatically; In the next coal-face cycle operation process of current institute working seam, left traction electric machine (19) and right traction electric machine (20) are controlled by controller (14);

And in the next coal-face cycle operation of current institute working seam; Walking displacement detecting unit (8) in the said coal-winning machine operating mode checkout gear detects according to the walking displacement of the sample frequency of setting to coal-winning machine fuselage (1) in real time, it is said that and institute's detecting position shift delivered to controller (14); The displacement data that said controller (14) combines walking displacement detecting unit (8) to be detected; And based on left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the data storage described in the step 103 (18); Said left adjust high cylinder and right adjust high cylinder are controlled respectively, thereby realized automatic cut;

Step 3, repeating step two repeatedly are until whole recovery process of accomplishing current institute working seam.

4. according to the described method of claim 3; It is characterized in that: in the step 102 for the actual operating mode data of any sampling instant; Obtain said double-ended shearer behind the cut attitude data of this sampling instant; Said controller (14) also need call the fusion processing module; And according to the fusion processing method of routine, the said double-ended shearer of obtain is carried out fusion processing at the cut attitude data of this sampling instant, and the said double-ended shearer of corresponding acquisition is at the best cut attitude data of this sampling instant;

When in the step 103 said left rocking arm cutting track curve being carried out match, said controller (14) or main control system (15) are according to s and H in the best cut attitude data of a plurality of sampling instants that obtain in the step 102 ₄Carry out match; And when said right rocking arm cutting track curve was carried out match, said controller (14) or main control system (15) were according to s and H in the best cut attitude data of a plurality of sampling instants that obtain in the step 102 ₃Carry out match.

5. according to claim 3 or 4 described methods; It is characterized in that: after the operating mode of coal-winning machine described in the step 101 checkout gear is uploaded to controller (14) with institute's detection data sync; Said controller (14) also needs according to the direct convolutional filtering method of routine or conventional recursive filtering method received detection data to be carried out Filtering Processing; The displacement detecting unit (8) of walking described in the step 2 is it is said that deliver to controller (14) with institute's detecting position shift; Said controller (14) also needs according to the direct convolutional filtering method of routine or conventional recursive filtering method received displacement data to be carried out Filtering Processing.

6. according to claim 3 or 4 described methods; It is characterized in that: carry out in the step 101 before the multi-sensor data collection; Also need import roll left the height error threshold value h2 of tube (3) and the height error threshold value h1 of right cylinder (5) through the parameter input device of main control system (15) or the parameter set unit (21) of joining with controller (14); Store coal-winning machine cut attitude data storehouse in the said data storage (18); And store the standard cut attitude data of said double-ended shearer under a plurality of different working conditions in the said coal-winning machine cut attitude data storehouse, and comprise the walking displacement of said double-ended shearer under each working condition, the calibrated altitude h of the tube (3) that rolls left in the said standard cut attitude data ₂₀Calibrated altitude h with right cylinder (5) ₁₀In the step 102 for the actual operating mode data of any sampling instant; Obtain said double-ended shearer behind the best cut attitude data of this sampling instant; Said controller (14) also needs immediately the best cut attitude data that is obtained to be carried out the true and false and judges; And its true and false deterministic process is following: earlier coupling draws the standard cut attitude data with the equal working condition of this sampling instant in said coal-winning machine cut attitude data storehouse, the more best cut attitude data of this sampling instant is compared with the standard cut attitude data that coupling obtains afterwards: when contrast draws in the best cut attitude data of this sampling instant | H ₃-h ₁₀|＞h1 and/or | H ₄-h ₂₀| during＞h2; Need stop the coal mining process of said double-ended shearer immediately, and the angular detection unit one (10) in the said coal-winning machine operating mode checkout gear, angular detection unit two (11), angular detection unit three (12) and angular detection unit four (13) are changed; Otherwise said controller (14) continues the best cut attitude data of next sampling instant is carried out true and false judgement.

7. according to claim 3 or 4 described methods; It is characterized in that: in the step 2 in the next coal-face cycle operation process of current institute working seam; Also need according to the method described in step 101 and the step 102; Obtain double-ended shearer described in the next coal-face cycle operation process at the cut attitude data of a plurality of sampling instants; Controller (14) also need call said fusion processing module the cut attitude data of each sampling instant is carried out fusion processing afterwards, and the best cut attitude data of corresponding each sampling instant of acquisition; And; After said controller (14) obtains the best cut attitude data of any sampling instant; All must carry out the true and false to the best cut attitude data that is obtained immediately judges; And its true and false deterministic process is following: earlier coupling draws the standard cut attitude data with the equal working condition of this sampling instant in said coal-winning machine cut attitude data storehouse, the more best cut attitude data of this sampling instant is compared with the standard cut attitude data that coupling obtains afterwards: when contrast draws in the best cut attitude data of this sampling instant | H ₃-h ₁₀|＞h1 and/or | H ₄-h ₂₀| during＞h2; Need stop the coal mining process of said double-ended shearer immediately, and the angular detection unit one (10) in the said coal-winning machine operating mode checkout gear, angular detection unit two (11), angular detection unit three (12) and angular detection unit four (13) are changed; Otherwise said controller (14) continues the best cut attitude data of next sampling instant is carried out true and false judgement.

8. according to claim 3 or 4 described methods; It is characterized in that: the displacement data that controller described in the step 2 (14) combines walking displacement detecting unit (8) to be detected; And according to left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the data storage described in the step 103 (18); When said left adjust high cylinder and right adjust high cylinder were controlled respectively, its control procedure was following: said controller (14) deposits descending walk of current state in data storage (18) after displacement data that displacement detecting unit (8) detected saves as s0 earlier; Afterwards, utilize left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the data storage (18) again, match the corresponding altitude information of tube (3) and the altitude information of right cylinder (5) of rolling left respectively with s0; Subsequently, said controller (14) is controlled respectively said left adjust high cylinder and right adjust high cylinder according to the roll left altitude information of tube (3) and the altitude information of right cylinder (5) that coupling draws.

9. according to the described method of claim 8; It is characterized in that: carry out in the step 101 before the multi-sensor data collection; Also need be through the parameter input device of main control system (15) or the parameter set unit (21) of joining with controller (14), input seam inclination change threshold Δ α ₂Carry out in the step 2 in the next coal-face cycle operation of current institute working seam; Also need to obtain double-ended shearer described in the next coal-face cycle operation process in the actual operating mode data of a plurality of sampling instants according to the described method of step 101; And; After said controller (14) obtains the actual operating mode data of any sampling instant; All must carry out the track correction to the actual operating mode data that obtained immediately and judge, and its track correction deterministic process is following: earlier with the α in the acquisition actual operating mode data ₂With the α in the actual operating mode data of this sampling instant of being stored in the step 101 ₂Carry out difference relatively: when the difference between the two greater than Δ α ₂The time, then need stop the coal mining process of said double-ended shearer immediately, and left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the said data storage (18) revised through artificial modification method or automatic correcting method; Otherwise said controller (14) carries out the track correction to the actual operating mode data of next sampling instant and judges;

Wherein, When the left rocking arm cutting track curve stored in the data memory (18) and right rocking arm cutting track curve being revised through artificial modification method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube (3) and the height of right cylinder (5) are adjusted to rolling left under the current state; Afterwards; Artificial through the parameter input device of main control system (15) or the parameter set unit (21) of joining with controller (14), with said data storage (18) interior the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₃And H ₄, replace with the adjusted altitude information of tube (3) and the altitude information of right cylinder (5) of rolling left under the current state respectively;

When the left rocking arm cutting track curve stored in the data memory (18) and right rocking arm cutting track curve being revised through automatic correcting method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube (3) and the height of right cylinder (5) are adjusted to rolling left under the current state; Afterwards; Said controller (14) is according to altitude information and the altitude information of right cylinder (5) of the adjusted tube (3) that rolls left, in the said data storage (18) the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₃And H ₄Make amendment respectively.

10. according to the described method of claim 8; It is characterized in that: carry out in the step 2 in the next coal-face cycle operation of current institute working seam; Also need artificially the coal seam conditions of current coal-face and/or the emergency situations that possibly occur to be carried out the whole process monitoring; When observation draw in coal seam conditions and the step 1 of coal-face under the current state to carry out the coal seam conditions of opposite position in the coal-face cycle operation process distinct or when emergency situations occurring; Need stop the coal mining process of said double-ended shearer immediately, and left rocking arm cutting track curve and the right rocking arm cutting track curve stored in the said data storage (18) revised through artificial modification method or automatic correcting method;

Wherein, When the left rocking arm cutting track curve stored in the data memory (18) and right rocking arm cutting track curve being revised through artificial modification method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube (3) and the height of right cylinder (5) are adjusted to rolling left under the current state; Afterwards; Artificial through the parameter input device of main control system (15) or the parameter set unit (21) of joining with controller (14), with said data storage (18) interior the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₃And H ₄, replace with the adjusted altitude information of tube (3) and the altitude information of right cylinder (5) of rolling left under the current state respectively;

When the left rocking arm cutting track curve stored in the data memory (18) and right rocking arm cutting track curve being revised through automatic correcting method; Its makeover process is following: at first; Through artificially said left adjust high cylinder and right adjust high cylinder being controlled, the height of tube (3) and the height of right cylinder (5) are adjusted to rolling left under the current state; Afterwards; Said controller (14) is according to altitude information and the altitude information of right cylinder (5) of the adjusted tube (3) that rolls left, in the said data storage (18) the H of this sampling instant in the left rocking arm cutting track curve of storing and the right rocking arm cutting track curve ₃And H ₄Make amendment respectively.

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