CN102797462B - 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, in recent years the exploitation dynamics of girdle is strengthened gradually, and thinner seam has gradually become main mining coal seam.But at present, the mechanization degree that is applicable to thinner seam and thin seam mining is also lower, mostly adopts the big gun mode of adopting to exploit, and not only yield poorly, and accident is many, workman's work under bad environment, potential safety hazard is very large.Thereby along with the pay attention to day by day to thin seam mining, be badly in need of solving above-mentioned thin seam mining problem.Solve the mining problem of girdle, fundamentally people is freed from heavy physical labor and severe dangerous environment, basic outlet is also the increasingly automated, intelligent of extractive equipment machinery.In addition, along with scientific and technical development, few people or manless coal face will be the inevitable of following coal-mining technique development.To sum up, for improving extractive equipment automation, intelligent level, to a certain extent people is freed from severe, dangerous colliery subsurface environment, reduce labour intensity, need improve and make it there is automatic cut function coal-winning machine.

Summary of the invention

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

For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of coal-winning machine automatic cutting control system, the coal-winning machine of controlling is double-ended shearer, and the left cutting units of described double-ended shearer comprises by jointed shaft and is hinged on the left rocking arm on coal-winning machine fuselage, be arranged on the left cutting motor that rolls left cylinder and the cylinder that rolls left is driven of left rocking arm front end, and the right cutting units of described double-ended shearer comprises by jointed shaft and is hinged on the right rocking arm on coal-winning machine fuselage, the right cutting motor that is arranged on the right cylinder of right rocking arm front end and right cylinder is driven, described 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, join with controller, the actual operating state of described double-ended shearer is carried out to the coal-winning machine condition detector detecting in real time and the main control system that carries out two-way communication with wired or wireless communication mode and controller, described coal-winning machine condition detector comprises walking displacement detecting unit that the walking displacement of coal-winning machine fuselage is carried out detecting in real time, to the angle α between right rocking arm and horizontal plane ₁the angle detecting unit one that carries out detecting in real time, to coal-winning machine fuselage along the angle α between direction of travel and the horizontal plane of exploited work plane ₂the angle detecting unit two that carries out detecting in real time, to the angle α between left rocking arm and horizontal plane ₃carry out the angle α between the angle detecting unit three of detection in real time and direction of propulsion and horizontal plane to described double-ended shearer ₄carry out the angle detecting unit four detecting in real time, described left adjust high cylinder and right adjust high cylinder are controlled by controller, and walking displacement detecting unit, angle detecting unit one, angle detecting unit two, angle detecting unit three and angle detecting unit four all join with controller, described 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: described coal-winning machine condition detector also comprises the speed of travel of coal-winning machine fuselage is carried out to the speed of travel detecting unit detecting in real time, and described speed of travel detecting unit and controller join.

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

Step 1, remember the cutting track of current institute working seam, mainly comprise the following steps:

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

Described in Artificial Control, double-ended shearer completes in a coal-face cycle operation process of current institute working seam, described coal-winning machine condition detector detects the actual operating mode of described double-ended shearer in real time according to predefined sample frequency, and detected data are synchronously uploaded to controller, the described double-ended shearer of corresponding acquisition is in the actual operating mode data of multiple sampling instants, and controller is stored to the actual operating mode data of multiple sampling instants in data storage from front to back according to sampling sequencing;

The sample frequency of displacement detecting unit, angle detecting unit one, angle detecting unit two, angle detecting unit three and angle detecting unit four of walking in described coal-winning machine condition detector is all identical; Described double-ended shearer includes 5 duty parameters in the actual operating mode data of each sampling instant, and 5 described 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 ₁for the angle between right rocking arm and horizontal plane, α ₂by coal-winning machine fuselage along the angle between direction of travel and the horizontal plane of exploitation work plane, α ₃for the angle between left rocking arm and horizontal plane, and α ₄for the angle between direction of propulsion and the horizontal plane of described double-ended shearer;

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

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

Described double-ended shearer includes 3 duty parameters at the cut attitude data of each sampling instant, and 3 described duty parameters are respectively s, H ₃and H ₄, wherein s is the walking displacement of coal-winning machine fuselage, H ₃for height and its of the right cylinder centre of the drum's line that is right cylinder to the vertical distance of exploitation floor undulation, H ₄for the height of the cylinder that rolls left and its centre of the drum's line by the cylinder that rolls left to the vertical distance of exploitation floor undulation;

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

$\left\{\begin{array}{c}{H}_3=H_1+L\·\sin ({\mathrm{\α}}_1-{\mathrm{\α}}_2)-L_0\·\mathrm{tg}{\mathrm{\α}}_4\\ H_4=H_1-L\·\sin ({\mathrm{\α}}_3-{\mathrm{\α}}_2)-L_0\·\mathrm{tg}{\mathrm{\α}}_4\end{array}\right.,$ In formula, L is the length of left rocking arm and right rocking arm, H ₁for the jointed shaft height of left rocking arm and right rocking arm and its shaft centre line that is described jointed shaft to the vertical distance of exploitation floor undulation, α ₁for the angle between right rocking arm and horizontal plane, α ₂by coal-winning machine fuselage along the angle between direction of travel and the horizontal plane of exploitation work plane, α ₃for the angle between left rocking arm and horizontal plane, α ₄for the angle between direction of propulsion and the horizontal plane of described double-ended shearer, L ₀for the fuselage center of coal-winning machine fuselage is to the distance at roll left cylinder middle part or right cylinder middle part;

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

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

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

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

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

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

And in the next coal-face cycle operation of current institute working seam, walking displacement detecting unit in described coal-winning machine condition detector detects the walking displacement of coal-winning machine fuselage in real time according to the sample frequency of setting, and institute's detecting position shift is reportedly delivered to controller; The displacement data that described controller detects in conjunction with walking displacement detecting unit, and according to the left rocking arm cutting track curve of storing in data storage described in step 103 and right rocking arm cutting track curve, described left adjust high cylinder and right adjust high cylinder are controlled respectively, thereby realized automatic cut;

Step 3, repeating step two repeatedly, until complete the full extraction process of current institute working seam.

Said method, it is characterized in that: in step 102 for the actual operating mode data of any sampling instant, obtain described double-ended shearer after the cut attitude data of this sampling instant, described controller also needs to call multisensor data fusion processing module, and according to conventional multisensor data fusion processing method, obtained described double-ended shearer is carried out to multisensor data fusion processing at the cut attitude data of this sampling instant, and the described double-ended shearer of corresponding acquisition is at the best cut attitude data of this sampling instant;

While described left rocking arm cutting track curve being carried out to matching in step 103, described controller or main control system are according to s and H in the best cut attitude data of multiple sampling instants that obtain in step 102 ₄carry out matching; And when described right rocking arm cutting track curve is carried out to matching, described controller or main control system are according to s and H in the best cut attitude data of multiple sampling instants that obtain in step 102 ₃carry out matching.

Said method, it is characterized in that: the condition detector of coal-winning machine described in step 101 is synchronously uploaded to detected data after controller, described controller also need, according to the direct convolutional filtering method of routine or conventional recursive filtering method, carry out filtering processing to received detection data; Institute's detecting position shift is reportedly delivered to controller by the displacement detecting of walking described in step 2 unit, and described controller also need, according to the direct convolutional filtering method of routine or conventional recursive filtering method, carry out filtering processing to received displacement data.

Said method, it is characterized in that: before carrying out multi-sensor data collection in step 101, also need the parameter set unit of joining by the parameter input device of main control system or with controller, input roll left the height error threshold value h2 of cylinder and the height error threshold value h1 of right cylinder, in described data storage, store coal-winning machine cut attitude data storehouse, and in described coal-winning machine cut attitude data storehouse, store the standard cut attitude data of described double-ended shearer under multiple different working conditions, and described standard cut attitude data comprises the walking displacement of described double-ended shearer under each working condition, the calibrated altitude h of the cylinder that rolls left ₂₀calibrated altitude h with right cylinder ₁₀, in step 102 for the actual operating mode data of any sampling instant, obtain described double-ended shearer after the best cut attitude data of this sampling instant, described controller also needs immediately obtained best cut attitude data to be carried out to true and false judgement, and its true and false deterministic process is as follows: first in described coal-winning machine cut attitude data storehouse, mate the standard cut attitude data drawing with the equal working condition of this sampling instant, afterwards again by the best cut attitude data of this sampling instant with mate the standard cut attitude data obtaining and contrast: when contrast draws in the best cut attitude data of this sampling instant | H ₃-h ₁₀| > h1 and/or | H ₄-h ₂₀| when > h2, need stop immediately the coal mining process of described double-ended shearer, and the angle detecting unit one in described coal-winning machine condition detector, angle detecting unit two, angle detecting unit three and angle detecting unit four are changed, otherwise described controller continues the best cut attitude data of next sampling instant to carry out true and false judgement.

Said method, it is characterized in that: in step 2 in the next coal-face cycle operation process of current institute working seam, also need be according to the method described in step 101 and step 102, obtain double-ended shearer described in next coal-face cycle operation process at the cut attitude data of multiple sampling instants, controller also needs to call described multisensor data fusion processing module the cut attitude data of each sampling instant is carried out to multisensor data fusion processing afterwards, and the best cut attitude data of the each sampling instant of corresponding acquisition; And, described controller obtains after the best cut attitude data of any sampling instant, all must carry out true and false judgement to obtained best cut attitude data immediately, and its true and false deterministic process is as follows: first in described coal-winning machine cut attitude data storehouse, coupling draws and the standard cut attitude data of the equal working condition of this sampling instant, afterwards again by the best cut attitude data of this sampling instant with mate the standard cut attitude data obtaining and contrast: when contrast draws in the best cut attitude data of this sampling instant | H ₃-h ₁₀| > h1 and/or | H ₄-h ₂₀| when > h2, need stop immediately the coal mining process of described double-ended shearer, and the angle detecting unit one in described coal-winning machine condition detector, angle detecting unit two, angle detecting unit three and angle detecting unit four are changed; Otherwise described controller continues the best cut attitude data of next sampling instant to carry out true and false judgement.

Said method, it is characterized in that: the displacement data that controller described in step 2 detects in conjunction with walking displacement detecting unit, and according to the left rocking arm cutting track curve of storing in data storage described in step 103 and right rocking arm cutting track curve, when described left adjust high cylinder and right adjust high cylinder are controlled respectively, its control procedure is as follows: described controller first by descending current state walk the displacement data that detects of displacement detecting unit deposit data storage in after saving as s0; Afterwards, left rocking arm cutting track curve and the right rocking arm cutting track curve in recycling data storage, stored, match respectively the roll left altitude information of cylinder and the altitude information of right cylinder corresponding with s0; Subsequently, what described controller drew according to coupling the roll left altitude information of cylinder and the altitude information of right cylinder, controls respectively described left adjust high cylinder and right adjust high cylinder.

Said method, is characterized in that: before carrying out multi-sensor data collection in step 101, also need the parameter set unit of joining by the parameter input device of main control system or with controller, input seam inclination change threshold Δ α ₂; In step 2, carry out in the next coal-face cycle operation of current institute working seam, also need be according to the method described in step 101, obtain double-ended shearer described in next coal-face cycle operation process in the actual operating mode data of multiple sampling instants; And, described controller obtains after the actual operating mode data of any sampling instant, all must carry out track correct judgement to obtained actual operating mode data immediately, and its track correct deterministic process is as follows: first by the α in obtained actual operating mode data ₂with the α in the actual operating mode data of this sampling instant of storing in step 101 ₂carry out difference comparison: when the difference between the two is greater than Δ α ₂time, need to stop immediately the coal mining process of described double-ended shearer, and by artificial modification method or automatic correcting method, the left rocking arm cutting track curve of storing in described data storage and right rocking arm cutting track curve are revised; Otherwise described controller carries out track correct judgement to the actual operating mode data of next sampling instant;

Wherein, when the left rocking arm cutting track curve of storing in data storage and right rocking arm cutting track curve corrections by artificial modification method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height to current state bottom left cylinder and the height of right cylinder are adjusted; Afterwards, the parameter set unit of artificially joining by the parameter input device of main control system or with controller, by described data storage the H of this sampling instant in the left rocking arm cutting track curve of storing and right rocking arm cutting track curve ₃and H ₄, replace with respectively the roll left altitude information of cylinder and the altitude information of right cylinder after adjustment under current state;

When the left rocking arm cutting track curve of storing in data storage and right rocking arm cutting track curve corrections by automatic correcting method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height to current state bottom left cylinder and the height of right cylinder are adjusted; Afterwards, described controller is according to the roll left altitude information of cylinder and the altitude information of right cylinder after adjusting, in described data storage the H of this sampling instant in the left rocking arm cutting track curve of storing and right rocking arm cutting track curve ₃and H ₄modify respectively.

Said method, it is characterized in that: in step 2, carry out in the next coal-face cycle operation of current institute working seam, the emergency situations that also needs artificial coal seam conditions to current coal-face and/or may occur is carried out whole process and is monitored, when observation draw in the coal seam conditions of coal-face under current state and step 1 to carry out the coal seam conditions of opposite position in coal-face cycle operation process distinct or while there is emergency situations, need stop immediately the coal mining process of described double-ended shearer, and by artificial modification method or automatic correcting method, the left rocking arm cutting track curve of storing in described data storage and right rocking arm cutting track curve are revised,

Wherein, when the left rocking arm cutting track curve of storing in data storage and right rocking arm cutting track curve corrections by artificial modification method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height to current state bottom left cylinder and the height of right cylinder are adjusted; Afterwards, the parameter set unit of artificially joining by the parameter input device of main control system or with controller, by described data storage the H of this sampling instant in the left rocking arm cutting track curve of storing and right rocking arm cutting track curve ₃and H ₄, replace with respectively the roll left altitude information of cylinder and the altitude information of right cylinder after adjustment under current state;

When the left rocking arm cutting track curve of storing in data storage and right rocking arm cutting track curve corrections by automatic correcting method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height to current state bottom left cylinder and the height of right cylinder are adjusted; Afterwards, described controller is according to the roll left altitude information of cylinder and the altitude information of right cylinder after adjusting, in described data storage the H of this sampling instant in the left rocking arm cutting track curve of storing and right rocking arm cutting track curve ₃and H ₄modify respectively.

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

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

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

3, the automatic cutting control method step that adopts simple, reasonable in design and realize convenient, control effective, coal-winning machine first moves after a coal-face cycle operation under mode of learning, 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 automatically moves aim curve addressing is provided under memory pattern, and then reach the object at diverse location place automatic adjustment height.In automatic mode, coal-winning machine, according to remembered cutting track data, moves whole cut flow process automatically, realizes automatic coal cutting.

4, actual carrying out after multi-sensor data collection, also need detected data to carry out true and false judgement, and according to true and false judged result, corresponding sensor is changed, to ensure the accuracy of Data Detection in whole coal mining process, and authenticating method is simple, it is convenient to realize.

5, automatically in cutting course, adopt manual intervention priority principle, coal-winning machine operating personnel adjust operation state at any time as required, carry out manual intervention, and data memory is revised, make automatic cut data more accurate, realize to a certain extent self-adapting operation.When coal-winning machine automatically moves under memory cut pattern, carry out automatic cut operation using the cutting track data of being remembered as Main Basis under mode of learning, coal-face undulating state changes, coal seam conditions changes, while there is emergency situations (as situations such as hydraulic support do not support to place) etc., carry out track correct, thereby cut control is more accurate automatically, intelligent degree is higher.Meanwhile, 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 by main control system long-range.Automatically revising is the process of coal cutter memorized cutting system works data parameters fine setting, is also the process of the further adaptation of coal-winning machine system to fully-mechanized mining working, the working trajectory that revised cutting track cylinder when circulating automatic coal cutting as next is heightened.

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

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.

Below by drawings and Examples, technical scheme of the present invention is described in further detail.

Brief description of the drawings

Fig. 1 adopts the schematic block circuit diagram of coal-winning machine automatic cutting control system for the present invention.

Fig. 2 adopts the method flow block diagram of coal-winning machine automatic cutting control method for the present invention.

Fig. 3 is for double-ended shearer that the present invention adopts is along the structural representation of work plane direction of travel.

Fig. 4 faces upward the side portion structure schematic diagram while adopting for double-ended shearer that the present invention adopts.

The side portion structure schematic diagram that Fig. 5 bows while adopting for double-ended shearer that the present invention adopts.

Description of reference numerals:

Detailed description of the invention

A kind of coal-winning machine automatic cutting control system as shown in Figure 1, the coal-winning machine of controlling is double-ended shearer, and the left cutting units of described double-ended shearer comprises by jointed shaft and is hinged on the left rocking arm 2 on coal-winning machine fuselage 1, be arranged on left rocking arm 2 front ends roll left cylinder 3 and to roll left cylinder 3 left cutting motors that drive, the described cylinder 3 that rolls left is in transmission connection with described left cutting motor, and the right cutting units of described double-ended shearer comprises by jointed shaft and is hinged on the right Rocker arm 4 on coal-winning machine fuselage 1, the right cutting motor that is arranged on the right cylinder 5 of right Rocker arm 4 front end and right cylinder 5 is driven, described right cylinder 5 is in transmission connection with described right cutting motor, described 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 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, this automatic cutting control system comprises controller 14, the data storage 18 joining with controller 14, the actual operating state of described double-ended shearer is carried out to the coal-winning machine condition detector detecting in real time and the main control system 15 that carries out two-way communication with wired or wireless communication mode and controller 14.

Described coal-winning machine condition detector comprises walking displacement detecting unit 8 that the walking displacement of coal-winning machine fuselage 1 is carried out detecting in real time, to the angle α between right Rocker arm 4 and horizontal plane ₁the angle detecting unit 1 that carries out detecting in real time, to coal-winning machine fuselage 1 along the angle α between direction of travel and the horizontal plane of the work plane of exploiting ₂the angle detecting unit 2 11 that carries out detecting in real time, to the angle α between left rocking arm 2 and horizontal plane ₃carry out the angle α between the angle detecting unit 3 12 of detection in real time and direction of propulsion and horizontal plane to described double-ended shearer ₄carry out the angle detecting unit 4 13 detecting in real time, described left adjust high cylinder and right adjust high cylinder are controlled by controller 14, and walking displacement detecting unit 8, angle detecting unit 1, angle detecting unit 2 11, angle detecting unit 3 12 and angle detecting unit 4 13 all join with controller 14.Described left traction electric machine 19 and right traction electric machine 20 are controlled by controller 14 and the two all joins with controller 14.

In the present embodiment, described angle detecting unit 1 is that the angle that swings up and down of left rocking arm 2 is carried out to the left rocking arm obliquity sensor detecting in real time, described angle detecting unit 2 11 is by the inclination angle of current exploitation work plane being detected and the rise and fall work plane obliquity sensor of situation of respective reaction coal-face height, and described angle detecting unit 3 12 carries out the right rocking arm obliquity sensor detecting in real time for the angle that swings up and down to right Rocker arm 4.

When actual use, the electromagnetic actuator one and the controller 14 that between described left adjust high cylinder 6 and hydraulic oil container, in institute's connecting fluid hydraulic circuit one, fill join, and the electromagnetic actuator two filling in institute's connecting fluid hydraulic circuit between right adjust high cylinder 7 and hydraulic oil container joins with controller 14.In the present embodiment, described electromagnetic actuator one is solenoid-operated proportional reversal valve 1, and described electromagnetic actuator two is solenoid-operated proportional reversal valve 2 23.That is to say, described controller 14, by controlling solenoid-operated proportional reversal valve 1 and solenoid-operated proportional reversal valve 2 23, is controlled described left adjust high cylinder and described right adjust high cylinder respectively.

In the present embodiment, described controller 14 joins by cable and main control system 15.

In the present embodiment, described coal-winning machine condition detector also comprises the speed of travel detecting unit 9 that the speed of travel of coal-winning machine fuselage 1 is carried out to real-time detection, and described speed of travel detecting unit 9 joins with controller 14.

Meanwhile, the parameter set unit 21 that the present invention adopts coal-winning machine automatic cutting control system also to comprise to join with controller 14.

A kind of coal-winning machine automatic cutting control method as shown in Figure 2, comprises the following steps:

Step 1, remember the cutting track of current institute working seam, mainly comprise the following steps:

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

Described in Artificial Control, double-ended shearer completes in a coal-face cycle operation process of current institute working seam, described coal-winning machine condition detector detects the actual operating mode of described double-ended shearer in real time according to predefined sample frequency, and detected data are synchronously uploaded to controller 14, the described double-ended shearer of corresponding acquisition is in the actual operating mode data of multiple sampling instants, and controller 14 is stored to the actual operating mode data of multiple sampling instants in data storage 18 from front to back according to sampling sequencing.

The sample frequency of displacement detecting unit 8, angle detecting unit 1, angle detecting unit 2 11, angle detecting unit 3 12 and angle detecting unit 4 13 of walking in described coal-winning machine condition detector is all identical.Described double-ended shearer includes 5 duty parameters in the actual operating mode data of each sampling instant, and 5 described 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 ₁for the angle between right Rocker arm 4 and horizontal plane, α ₂by coal-winning machine fuselage 1 along the angle between direction of travel and the horizontal plane of exploitation work plane, α ₃for the angle between left rocking arm 2 and horizontal plane, and α ₄for the angle between direction of propulsion and the horizontal plane of described double-ended shearer.

Wherein, α ₁for 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 (on work plane direction of travel, the angle between right Rocker arm 4 and horizontal plane); And α ₃for 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 (on work plane direction of travel, the angle between left rocking arm 2 and horizontal plane); α ₄for facing upward of described double-ended shearer adopted angle or bows and adopt angle.

In the present embodiment, described coal-winning machine condition detector also comprises the speed of travel detecting unit 9 that the speed of travel of coal-winning machine fuselage 1 is carried out to real-time detection, described double-ended shearer includes 6 duty parameters in the actual operating mode data of each sampling instant, and 6 described 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, the condition detector of coal-winning machine described in step 101 is synchronously uploaded to detected data after controller 14, described controller 14 also need, according to the direct convolutional filtering method of routine or conventional recursive filtering method, carry out filtering processing to received detection data.

Wherein, direct convolutional filtering method is for utilizing formula by arbitrary input signal x _n, obtain an output signal y through filtering _n, wherein filtering factor h _r, i.e. discrete Least square estimation, is limited m item.

Recursive filtering method is for to join two convolution filters, by the y of first convolution filter output by feedback form _nagain after second convolution filter carries out a 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 is s=1,2 ..., l, $g_n=\underset{r=0}{\overset{m-1}{\mathrm{\Σ}}}{h}_r{x}_{n-r},$ $g_n^{\′}=\underset{s=1}{\overset{l}{\mathrm{\Σ}}}{h}_s^{\′}{y}_{n-s},$ Draw thus $y_n=g_n-g_n^{\′}=\underset{r=0}{\overset{m-1}{\mathrm{\Σ}}}{h}_r{x}_{n-r}-\underset{s=1}{\overset{l}{\mathrm{\Σ}}}{h}_s^{\′}{y}_{n-s}.$

Step 102, coal-winning machine cut attitude data obtain and stores synchronized: described controller 14 receives after detected data, according to sampling sequencing, the actual operating mode data of multiple sampling instants are carried out respectively to analyzing and processing, the described double-ended shearer of corresponding acquisition is at the cut attitude data of multiple sampling instants, and according to sampling sequencing, the cut attitude data of multiple sampling instants is stored in data storage 18 from front to back.

The analysis and processing method of the actual operating mode data of described controller 14 to multiple sampling instants is all identical, for the actual operating mode data of any sampling instant, described controller 14 calls rocker arm of coal mining machine cut attitude Mathematical Modeling, by the α in the actual operating mode data of this sampling instant that obtains in step 101 ₁, α ₂, α ₃and α ₄be scaled H ₃and H ₄, the described double-ended shearer of corresponding acquisition is at the cut attitude data of this sampling instant.

Described double-ended shearer includes 3 duty parameters at the cut attitude data of each sampling instant, and 3 described 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 centre of the drum's line that is right cylinder 5 to the vertical distance of exploitation floor undulation, H ₄for roll left cylinder 3 height and its centre of the drum's line by the cylinder 3 that rolls left to the vertical distance of exploitation floor undulation;

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

$\left\{\begin{array}{c}{H}_3=H_1+L\·\sin ({\mathrm{\α}}_1-{\mathrm{\α}}_2)-L_0\·\mathrm{tg}{\mathrm{\α}}_4\\ H_4=H_1-L\·\sin ({\mathrm{\α}}_3-{\mathrm{\α}}_2)-L_0\·\mathrm{tg}{\mathrm{\α}}_4\end{array}\right.,$ In formula, L is the length of left rocking arm 2 and right Rocker arm 4, H ₁for the jointed shaft height of left rocking arm 2 and right Rocker arm 4 and its shaft centre line that be described jointed shaft arrive the vertical distance of exploitation floor undulation, α ₁for the angle between right Rocker arm 4 and horizontal plane, α ₂by coal-winning machine fuselage 1 along the angle between direction of travel and the horizontal plane of exploitation work plane, α ₃for the angle between left rocking arm 2 and horizontal plane, α ₄for the angle between direction of propulsion and the horizontal plane of described double-ended shearer, L ₀for the fuselage center of coal-winning machine fuselage 1 is to the distance at roll left cylinder 3 middle parts or right cylinder 5 middle parts;

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

When coal-winning machine fuselage 1 along the direction of travel of the work plane of exploiting for obliquely time, α ₂for just; And when coal-winning machine fuselage 1 is oblique lower 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 is for obliquely time, α ₃for just; And when left rocking arm 2 is oblique lower time, α ₃for negative;

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

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

Can be drawn 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, described double-ended shearer is adopted and the height tolerance of Rocker drum while adopting of bowing is: Δ H=L facing upward ₀tg α ₄.

Can be drawn by above-mentioned formula, the cylinder 3 that rolls left of described 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 described 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 rocking arm cutting track curve and right rocking arm cutting track curve acquisition and stores synchronized: described controller 14 or main control system 15 are according to s and H in the cut attitude data of multiple sampling instants that obtain in step 102 ₄, and adopt conventional least square method, and simulating the left rocking arm cutting track curve in coal-face cycle operation process of current institute working seam, described left rocking arm cutting track curve is H ₄the curve changing with s; Meanwhile, described controller 14 or main control system 15 are according to s and H in the cut attitude data of multiple sampling instants that obtain in step 102 ₃, and adopt conventional least square method, and simulating the right rocking arm cutting track curve in coal-face cycle operation process of current institute working seam, described right rocking arm cutting track curve is H ₃the curve changing with s; Meanwhile, obtained left rocking arm cutting track curve and right rocking arm cutting track curve are all stored in data storage 18.

Actual when described left rocking arm cutting track curve and right rocking arm cutting track curve are carried out to matching, the cutting track collection of described double-ended shearer is based on the mining height value (being roller height) on the basis of coal-winning machine walking position.For example, while described left rocking arm cutting track curve being carried out to matching, the corresponding corresponding mining height point of any walking position point (displacement s represents to walk) of the described double-ended shearer (height H of the cylinder 3 that rolls left ₄).

So, can be by s and H ₄be defined as respectively two variablees (x, y), then while studying the correlation between two variablees (x, y), conventionally can obtain a series of paired data (x ₁, y ₂), (x ₂, y ₂) ..., (x _i, y _i); Above-mentioned some data are all depicted in x-y plane right-angle coordinate, find that these points are near straight line, this seasonal this linear equation is Y=a ₀+ a ₁x (1-1).

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

For setting up this linear equation, will determine a ₀and a ₁, application " principle of least square method ", by 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, obtain dependent constant by computing.

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

$\frac{\∂\mathrm{\φ}}{\∂a_0}=-2\mathrm{\Σ}(Y_i-a_o-a_1{X}_i-a_2{X_i}^2)=0;$

$\frac{\∂\mathrm{\φ}}{\∂a_1}=-2X_i\mathrm{\Σ}(Y_i-a_o-a_1{X}_i-a_2{X_i}^2)=0;$

$\frac{\∂\mathrm{\φ}}{\∂a_2}=-2{X_i}^2\mathrm{\Σ}(Y_i-a_o-a_1{X}_i-a_2{X_i}^2)=0;$

Solve an equation and can obtain a ₀, a ₁and a ₂value, thereby obtain aim curve.

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

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

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

Step 3, repeating step two repeatedly, until complete the full extraction process of current institute working seam.

In the present embodiment, institute's detecting position shift is reportedly delivered to controller 14 by the displacement detecting of walking described in step 2 unit 8, described controller 14 also need, according to the direct convolutional filtering method of routine or conventional recursive filtering method, carry out filtering processing to received displacement data.

In the present embodiment, in step 102 for the actual operating mode data of any sampling instant, obtain described double-ended shearer after the cut attitude data of this sampling instant, described controller 14 also needs to call multisensor data fusion processing module, and according to conventional multisensor data fusion processing method, obtained described double-ended shearer is carried out to multisensor data fusion processing at the cut attitude data of this sampling instant, and the described double-ended shearer of corresponding acquisition is at the best cut attitude data of this sampling instant.

Correspondingly, while described left rocking arm cutting track curve being carried out to matching in step 103, described controller 14 or main control system 15 are according to s and H in the best cut attitude data of multiple sampling instants that obtain in step 102 ₄carry out matching; And when described right rocking arm cutting track curve is carried out to matching, described controller 14 or main control system 15 are according to s and H in the best cut attitude data of multiple sampling instants that obtain in step 102 ₃carry out matching.

In the present embodiment, before carrying out multi-sensor data collection in step 101, also need the parameter set unit 21 of joining by the parameter input device of main control system 15 or with controller 14, input roll left the height error threshold value h2 of cylinder 3 and the height error threshold value h1 of right cylinder 5.Simultaneously, in described data storage 18, store coal-winning machine cut attitude data storehouse, and in described coal-winning machine cut attitude data storehouse, store the standard cut attitude data of described double-ended shearer under multiple different working conditions, and described standard cut attitude data comprises the walking displacement of described double-ended shearer under each working condition, the calibrated altitude h of the cylinder 3 that rolls left ₂₀calibrated altitude h with right cylinder 5 ₁₀.Actual when coal-winning machine cut attitude data storehouse is set up, summarize and draw according to the actual condition of this double-ended shearer and corresponding empirical data by user or manufacturer.

In step 102 for the actual operating mode data of any sampling instant, obtain described double-ended shearer after the best cut attitude data of this sampling instant, described controller 14 also needs immediately obtained best cut attitude data to be carried out to true and false judgement, and its true and false deterministic process is as follows: first in described coal-winning machine cut attitude data storehouse, mate the standard cut attitude data drawing with the equal working condition of this sampling instant, afterwards again by the best cut attitude data of this sampling instant with mate the standard cut attitude data obtaining and contrast: when contrast draws the best cut attitude data of this sampling instant | H ₄-h ₁₀| > h1 and/or in | H ₃-h ₂₀| when > h2, need stop immediately the coal mining process of described double-ended shearer, and the angle detecting unit 1 in described coal-winning machine condition detector, angle detecting unit 2 11, angle detecting unit 3 12 and angle detecting unit 4 13 are changed, otherwise described controller 14 continues the best cut attitude data of next sampling instant to carry out true and false judgement.

Correspondingly, in step 2, carry out in the next coal-face cycle operation process of current institute working seam, also need be according to the method described in step 101 and step 102, obtain double-ended shearer described in next coal-face cycle operation process at the cut attitude data of multiple sampling instants, controller 14 also needs to call described multisensor data fusion processing module the cut attitude data of each sampling instant is carried out to multisensor data fusion processing afterwards, and the best cut attitude data of the each sampling instant of corresponding acquisition.

And, described controller 14 obtains after the best cut attitude data of any sampling instant, all must carry out true and false judgement to obtained best cut attitude data immediately, and its true and false deterministic process is as follows: first in described coal-winning machine cut attitude data storehouse, coupling draws and the standard cut attitude data of the equal working condition of this sampling instant, afterwards again by the best cut attitude data of this sampling instant with mate the standard cut attitude data obtaining and contrast: 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| when > h2, need stop immediately the coal mining process of described double-ended shearer, and the angle detecting unit 1 in described coal-winning machine condition detector, angle detecting unit 2 11, angle detecting unit 3 12 and angle detecting unit 4 13 are changed; Otherwise described controller 14 continues the best cut attitude data of next sampling instant to carry out true and false judgement.

In the present embodiment, the displacement data that controller 14 described in step 2 detects in conjunction with walking displacement detecting unit 8, and according to interior the stored left rocking arm cutting track curve of data storage 18 described in step 103 and right rocking arm cutting track curve, when described left adjust high cylinder and right adjust high cylinder are controlled respectively, its control procedure is as follows: described controller 14 first by descending current state walk the displacement data that detects of displacement detecting unit 8 deposit data storage 18 in after saving as s0; Afterwards, recycling interior the stored left rocking arm cutting track curve of data storage 18 and right rocking arm cutting track curve, match respectively the roll left altitude information of cylinder 3 and the altitude information of right cylinder 5 corresponding with s0; Subsequently, what described controller 14 drew according to coupling the roll left altitude information of cylinder 3 and the altitude information of right cylinder 5, controls respectively described left adjust high cylinder and right adjust high cylinder.

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

In step 2, carry out in the next coal-face cycle operation of current institute working seam, also need be according to the method described in step 101, obtain double-ended shearer described in next coal-face cycle operation process in the actual operating mode data of multiple sampling instants; And, described controller 14 obtains after the actual operating mode data of any sampling instant, all must carry out track correct judgement to obtained actual operating mode data immediately, and its track correct deterministic process is as follows: first by the α in obtained actual operating mode data ₂with the α in the actual operating mode data of this sampling instant of storing in step 101 ₂carry out difference comparison: when the difference between the two is greater than Δ α ₂time (the fluctuating situation of current exploited coal-face is different from the fluctuating situation of work plane in recovery process in step 101), need to stop immediately the coal mining process of described double-ended shearer, and by artificial modification method or automatic correcting method, interior the stored left rocking arm cutting track curve of described data storage 18 and right rocking arm cutting track curve are revised; Otherwise described controller 14 carries out track correct judgement to the actual operating mode data of next sampling instant.

Wherein, when interior the stored left rocking arm cutting track curve of data storage 18 and right rocking arm cutting track curve corrections by artificial modification method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height to current state bottom left cylinder 3 and the height of right cylinder 5 are adjusted; Afterwards, the parameter set unit 21 of artificially joining by the parameter input device of main control system 15 or with controller 14, by the H of this sampling instant in interior described data storage 18 stored left rocking arm cutting track curve and right rocking arm cutting track curve ₄and H ₃, replace with respectively the roll left altitude information of cylinder 3 and the altitude information of right cylinder 5 after adjustment under current state.

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

When interior the stored left rocking arm cutting track curve of data storage 18 and right rocking arm cutting track curve corrections by automatic correcting method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height to current state bottom left cylinder 3 and the height of right cylinder 5 are adjusted; Afterwards, described controller 14 is according to the roll left altitude information of cylinder 3 and the altitude information of right cylinder 5 after adjusting, to the H of this sampling instant in interior the stored left rocking arm cutting track curve of described data storage 18 and right rocking arm cutting track curve ₃and H ₄modify respectively.

For example, when described left rocking arm cutting track curve correction by controller 14, controller 14 is according to formula modify, wherein stored corresponding position in left rocking arm cutting track curve by described data storage 18 is interior and need be revised numerical value, (x _i, y _i) be the actual measured value of the height of height to current state bottom left cylinder 3 and right cylinder 5 after adjusting, for revising rear value, Q is correction factor.Modification method by controller 14 to described right rocking arm cutting track curve is identical with the above-mentioned modification method to described left rocking arm cutting track curve.When people is when revising, that is to say correction factor Q=0 in above formula.

In the present embodiment, in step 2, carry out in the next coal-face cycle operation of current institute working seam, the emergency situations that also needs artificial coal seam conditions to current coal-face and/or may occur is carried out whole process and is monitored, when observation draw in the coal seam conditions of coal-face under current state and step 1 to carry out the coal seam conditions of opposite position in coal-face cycle operation process distinct or while there is emergency situations, need stop immediately the coal mining process of described double-ended shearer, and by artificial modification method or automatic correcting method, interior the stored left rocking arm cutting track curve of described data storage 18 and right rocking arm cutting track curve are revised.Its modification method, is greater than Δ α with above-mentioned difference ₂time modification method identical.

Wherein, when interior the stored left rocking arm cutting track curve of data storage 18 and right rocking arm cutting track curve corrections by artificial modification method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height to current state bottom left cylinder 3 and the height of right cylinder 5 are adjusted; Afterwards, the parameter set unit 21 of artificially joining by the parameter input device of main control system 15 or with controller 14, by the H of this sampling instant in interior described data storage 18 stored left rocking arm cutting track curve and right rocking arm cutting track curve ₄and H ₃, replace with respectively the roll left altitude information of cylinder 3 and the altitude information of right cylinder 5 after adjustment under current state;

When interior the stored left rocking arm cutting track curve of data storage 18 and right rocking arm cutting track curve corrections by automatic correcting method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height to current state bottom left cylinder 3 and the height of right cylinder 5 are adjusted; Afterwards, described controller 14 is according to the roll left altitude information of cylinder 3 and the altitude information of right cylinder 5 after adjusting, to the H of this sampling instant in interior the stored left rocking arm cutting track curve of described data storage 18 and right rocking arm cutting track curve ₄and H ₃modify respectively.

The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every any simple modification of above embodiment being done according to the technology of the present invention essence, change and equivalent structure change, and all still belong in the protection domain of technical solution of the present invention.

Claims (9)

1. a coal-winning machine automatic cutting control method, the coal-winning machine that the control system adopting is controlled is double-ended shearer, and the left cutting units of described double-ended shearer comprises by jointed shaft and is hinged on the left rocking arm (2) on coal-winning machine fuselage (1), be arranged on the left cutting motor that rolls left cylinder (3) and the cylinder (3) that rolls left is driven of left rocking arm (2) front end, and the right cutting units of described double-ended shearer comprises by jointed shaft and is hinged on the right rocking arm (4) on coal-winning machine fuselage (1), the right cutting motor that is arranged on the right cylinder (5) of right rocking arm (4) front end and right cylinder (5) is driven, described 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: this automatic cutting control system comprises controller (14), the data storage (18) joining with controller (14), the actual operating state of described double-ended shearer is carried out to the coal-winning machine condition detector detecting in real time and the main control system (15) that carries out two-way communication with wired or wireless communication mode and controller (14), described coal-winning machine condition detector comprises walking displacement detecting unit (8) that the walking displacement of coal-winning machine fuselage (1) is carried out detecting in real time, to the angle α between right rocking arm (4) and horizontal plane ₁the angle detecting unit one (10) that carries out detecting in real time, to coal-winning machine fuselage (1) along the angle α between direction of travel and the horizontal plane of the work plane of exploiting ₂the angle detecting unit two (11) that carries out detecting in real time, to the angle α between left rocking arm (2) and horizontal plane ₃carry out the angle α between the angle detecting unit three (12) of detection in real time and direction of propulsion and horizontal plane to described double-ended shearer ₄carry out the angle detecting unit four (13) detecting in real time, described left adjust high cylinder and right adjust high cylinder are controlled by controller (14), and walking displacement detecting unit (8), angle detecting unit one (10), angle detecting unit two (11), angle detecting unit three (12) and angle detecting unit four (13) all join with controller (14), described left traction electric machine (19) and right traction electric machine (20) are controlled by controller (14) and the two all joins with controller (14),

Described coal-winning machine automatic cutting control method comprises the following steps:

Step 1, remember the cutting track of current institute working seam, mainly comprise the following steps:

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

Described in Artificial Control, double-ended shearer completes in a coal-face cycle operation process of current institute working seam, described coal-winning machine condition detector detects the actual operating mode of described double-ended shearer in real time according to predefined sample frequency, and detected data are synchronously uploaded to controller (14), the described double-ended shearer of corresponding acquisition is in the actual operating mode data of multiple sampling instants, and controller (14) is stored to the actual operating mode data of multiple sampling instants in data storage (18) from front to back according to sampling sequencing,

The sample frequency of displacement detecting unit (8), angle detecting unit one (10), angle detecting unit two (11), angle detecting unit three (12) and angle detecting unit four (13) of walking in described coal-winning machine condition detector is all identical; Described double-ended shearer includes 5 duty parameters in the actual operating mode data of each sampling instant, and 5 described 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);

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

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

Described double-ended shearer includes 3 duty parameters at the cut attitude data of each sampling instant, and 3 described duty parameters are respectively s, H ₃and H ₄, wherein, H ₃by centre of the drum's line of right cylinder (5) to the vertical distance of exploitation floor undulation, H ₄by centre of the drum's line of the cylinder (3) that rolls left to the vertical distance of exploitation floor undulation;

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

in formula, L is the length of left rocking arm (2) and right rocking arm (4), H ₁for the jointed shaft height of left rocking arm (2) and right rocking arm (4) and its shaft centre line that be described jointed shaft arrive the vertical distance of exploitation floor undulation, L ₀for the fuselage center of coal-winning machine fuselage (1) is to the distance at roll left cylinder (3) middle part or right cylinder (5) middle part;

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

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

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

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

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

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

And in the next coal-face cycle operation of current institute working seam, walking displacement detecting unit (8) in described coal-winning machine condition detector detects the walking displacement of coal-winning machine fuselage (1) in real time according to the sample frequency of setting, and institute's detecting position shift is reportedly delivered to controller (14); The displacement data that described controller (14) detects in conjunction with walking displacement detecting unit (8), and according to left rocking arm cutting track curve and the right rocking arm cutting track curve stored in data storage described in step 103 (18), described left adjust high cylinder and right adjust high cylinder are controlled respectively, thereby realized automatic cut;

Step 3, repeating step two repeatedly, until complete the full extraction process of current institute working seam.

2. according to a kind of coal-winning machine automatic cutting control method claimed in claim 1, it is characterized in that: described coal-winning machine condition detector also comprises the speed of travel detecting unit (9) that the speed of travel of coal-winning machine fuselage (1) is carried out to real-time detection, and described speed of travel detecting unit (9) joins with controller (14).

3. according to a kind of coal-winning machine automatic cutting control method claimed in claim 1, it is characterized in that: in step 102 for the actual operating mode data of any sampling instant, obtain described double-ended shearer after the cut attitude data of this sampling instant, described controller (14) also needs to call multisensor data fusion processing module, and according to conventional multisensor data fusion processing method, obtained described double-ended shearer is carried out to multisensor data fusion processing at the cut attitude data of this sampling instant, and the described double-ended shearer of corresponding acquisition is at the best cut attitude data of this sampling instant,

While described left rocking arm cutting track curve being carried out to matching in step 103, described controller (14) or main control system (15) are according to s and H in the best cut attitude data of multiple sampling instants that obtain in step 102 ₄carry out matching; And when described right rocking arm cutting track curve is carried out to matching, described controller (14) or main control system (15) are according to s and H in the best cut attitude data of multiple sampling instants that obtain in step 102 ₃carry out matching.

4. according to a kind of coal-winning machine automatic cutting control method described in claim 1 or 3, it is characterized in that: the condition detector of coal-winning machine described in step 101 is synchronously uploaded to detected data after controller (14), described controller (14) also need, according to the direct convolutional filtering method of routine or conventional recursive filtering method, carry out filtering processing to received detection data; Institute's detecting position shift is reportedly delivered to controller (14) by the displacement detecting of walking described in step 2 unit (8), described controller (14) also need, according to the direct convolutional filtering method of routine or conventional recursive filtering method, carry out filtering processing to received displacement data.

5. according to a kind of coal-winning machine automatic cutting control method described in claim 1 or 3, it is characterized in that: before carrying out multi-sensor data collection in step 101, also need the parameter set unit (21) of joining by the parameter input device of main control system (15) or with controller (14), input roll left the cylinder height error threshold value h2 of (3) and the height error threshold value h1 of right cylinder (5), in described data storage (18), store coal-winning machine cut attitude data storehouse, and in described coal-winning machine cut attitude data storehouse, store the standard cut attitude data of described double-ended shearer under multiple different working conditions, and described standard cut attitude data comprises the walking displacement of described double-ended shearer under each working condition, the calibrated altitude h of the cylinder (3) that rolls left ₂₀calibrated altitude h with right cylinder (5) ₁₀, in step 102 for the actual operating mode data of any sampling instant, obtain described double-ended shearer after the best cut attitude data of this sampling instant, described controller (14) also needs immediately obtained best cut attitude data to be carried out to true and false judgement, and its true and false deterministic process is as follows: first in described coal-winning machine cut attitude data storehouse, mate the standard cut attitude data drawing with the equal working condition of this sampling instant, afterwards again by the best cut attitude data of this sampling instant with mate the standard cut attitude data obtaining and contrast: when contrast draws in the best cut attitude data of this sampling instant | H ₃-h ₁₀| > h1 and/or | H ₄-h ₂₀| when > h2, need stop immediately the coal mining process of described double-ended shearer, and the angle detecting unit one (10) in described coal-winning machine condition detector, angle detecting unit two (11), angle detecting unit three (12) and angle detecting unit four (13) are changed, otherwise described controller (14) continues the best cut attitude data of next sampling instant to carry out true and false judgement.

6. according to a kind of coal-winning machine automatic cutting control method described in claim 1 or 3, it is characterized in that: in step 2 in the next coal-face cycle operation process of current institute working seam, also need be according to method in step 101 and step 102, obtain double-ended shearer described in next coal-face cycle operation process at the cut attitude data of multiple sampling instants, controller (14) also needs to call described multisensor data fusion processing module the cut attitude data of each sampling instant is carried out to multisensor data fusion processing afterwards, and the best cut attitude data of the each sampling instant of corresponding acquisition, and, described controller (14) obtains after the best cut attitude data of any sampling instant, all must carry out true and false judgement to obtained best cut attitude data immediately, and its true and false deterministic process is as follows: first in described coal-winning machine cut attitude data storehouse, coupling draws and the standard cut attitude data of the equal working condition of this sampling instant, afterwards again by the best cut attitude data of this sampling instant with mate the standard cut attitude data obtaining and contrast: when contrast draws in the best cut attitude data of this sampling instant | H ₃-h ₁₀| > h1 and/or | H ₄-h ₂₀| when > h2, need stop immediately the coal mining process of described double-ended shearer, and the angle detecting unit one (10) in described coal-winning machine condition detector, angle detecting unit two (11), angle detecting unit three (12) and angle detecting unit four (13) are changed, otherwise described controller (14) continues the best cut attitude data of next sampling instant to carry out true and false judgement.

7. according to the method described in claim 1 or 3, it is characterized in that: the displacement data that controller described in step 2 (14) detects in conjunction with walking displacement detecting unit (8), and according to left rocking arm cutting track curve and the right rocking arm cutting track curve stored in data storage described in step 103 (18), when described left adjust high cylinder and right adjust high cylinder are controlled respectively, its control procedure is as follows: described controller (14) first by descending current state walk the displacement data that detects of displacement detecting unit (8) deposit data storage (18) in after saving as s0, afterwards, left rocking arm cutting track curve and the right rocking arm cutting track curve in recycling data storage (18), stored, match respectively roll left the cylinder altitude information of (3) and the altitude information of right cylinder (5) corresponding with s0, subsequently, what described controller (14) drew according to coupling the roll left cylinder altitude information of (3) and the altitude information of right cylinder (5), controls respectively described left adjust high cylinder and right adjust high cylinder.

8. according to a kind of coal-winning machine automatic cutting control method claimed in claim 7, it is characterized in that: before carrying out multi-sensor data collection in step 101, also need the parameter set unit (21) of joining by the parameter input device of main control system (15) or with controller (14), input seam inclination change threshold Δ α ₂; In step 2, carry out in the next coal-face cycle operation of current institute working seam, also need be according to the method described in step 101, obtain double-ended shearer described in next coal-face cycle operation process in the actual operating mode data of multiple sampling instants; And, described controller (14) obtains after the actual operating mode data of any sampling instant, all must carry out track correct judgement to obtained actual operating mode data immediately, and its track correct deterministic process is as follows: first by the α in obtained actual operating mode data ₂with the α in the actual operating mode data of this sampling instant of storing in step 101 ₂carry out difference comparison: when the difference between the two is greater than Δ α ₂time, need to stop immediately the coal mining process of described double-ended shearer, and by artificial modification method or automatic correcting method, left rocking arm cutting track curve and the right rocking arm cutting track curve in described data storage (18), stored are revised; Otherwise described controller (14) carries out track correct judgement to the actual operating mode data of next sampling instant;

Wherein, when the left rocking arm cutting track curve of storing in data storage (18) and right rocking arm cutting track curve corrections by artificial modification method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height of the height to current state bottom left cylinder (3) and right cylinder (5) is adjusted; Afterwards, artificial parameter set unit (21) of joining by the parameter input device of main control system (15) or with controller (14), by the H of this sampling instant in interior described data storage (18) the left rocking arm cutting track curve of storing and right rocking arm cutting track curve ₃and H ₄, replace with respectively roll left the cylinder altitude information of (3) and the altitude information of right cylinder (5) after adjustment under current state;

When the left rocking arm cutting track curve of storing in data storage (18) and right rocking arm cutting track curve corrections by automatic correcting method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height of the height to current state bottom left cylinder (3) and right cylinder (5) is adjusted; Afterwards, described controller (14) is according to roll left the cylinder altitude information of (3) and the altitude information of right cylinder (5) after adjusting, in described data storage (18) the H of this sampling instant in the left rocking arm cutting track curve of storing and right rocking arm cutting track curve ₃and H ₄modify respectively.

9. according to a kind of coal-winning machine automatic cutting control method claimed in claim 7, it is characterized in that: in step 2, carry out in the next coal-face cycle operation of current institute working seam, the emergency situations that also needs artificial coal seam conditions to current coal-face and/or may occur is carried out whole process and is monitored, when observation draw in the coal seam conditions of coal-face under current state and step 1 to carry out the coal seam conditions of opposite position in coal-face cycle operation process distinct or while there is emergency situations, need stop immediately the coal mining process of described double-ended shearer, and by artificial modification method or automatic correcting method, left rocking arm cutting track curve and the right rocking arm cutting track curve in described data storage (18), stored are revised,

Wherein, when the left rocking arm cutting track curve of storing in data storage (18) and right rocking arm cutting track curve corrections by artificial modification method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height of the height to current state bottom left cylinder (3) and right cylinder (5) is adjusted; Afterwards, artificial parameter set unit (21) of joining by the parameter input device of main control system (15) or with controller (14), by the H of this sampling instant in interior described data storage (18) the left rocking arm cutting track curve of storing and right rocking arm cutting track curve ₃and H ₄, replace with respectively roll left the cylinder altitude information of (3) and the altitude information of right cylinder (5) after adjustment under current state;

When the left rocking arm cutting track curve of storing in data storage (18) and right rocking arm cutting track curve corrections by automatic correcting method, its makeover process is as follows: first, by artificially described left adjust high cylinder and right adjust high cylinder being controlled, the height of the height to current state bottom left cylinder (3) and right cylinder (5) is adjusted; Afterwards, described controller (14) is according to roll left the cylinder altitude information of (3) and the altitude information of right cylinder (5) after adjusting, in described data storage (18) the H of this sampling instant in the left rocking arm cutting track curve of storing and right rocking arm cutting track curve ₃and H ₄modify respectively.