CN104405391A - Coal rock interface analysis method based on coal mining machine perception - Google Patents
Coal rock interface analysis method based on coal mining machine perception Download PDFInfo
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Abstract
The invention relates to a coal rock interface analysis method based on coal mining machine perception, and is realized based on a coal rock interface analysis system based on the coal mining machine perception. The system is composed of a large-capacity data storage device, a coal mining machine electrical main controller, an intrinsically safe type vibration accelerated speed sensor and the like. In the method, through coal mining machine working parameters composed of vibration signals, voltage and current and temperature torque of coal mining machine cutting and traction motors, coal mining machine rocker arm lifting oil cylinder pressure, and traction motor speed signals, signal characteristics of coal mining machine drum cutting teeth cutting coal and rock different roofs and floors situations are analyzed, wavelet packets are used for analyzing energy features of different frequency bands of the vibration signals, probability and statistic samples are used for analyzing feature distribution of the cutting machine working parameters, a multi-sensor information fusion technology is used for comprehensive establishment of different coal rock character databases, a coal mining machine perception coal rock interface is defined through a fuzzy mathematic theory, and a coal rock interface membership degree is calculated according to the coal mining machine perception multi-sensor information, so as to be used as a coal rock interface recognition basis.
Description
Technical field
The present invention relates to a kind of instrument for gathering dynamo-electric equipment working state parameter and a kind of method identifying dynamo-electric apparatus of load medium, especially can be used for a kind of coal-rock interface analytical method based on coal-winning machine perception of underground coal mine.
Background technology
Underground coal mine large-scale digging equipment, referring to the various development machines that various coal-winning machine into underground coal mine fully-mechanized mining working uses and fully mechanized workface use, is the most key main equipment during coal comprehensive mechanization is produced.
In underground work, work under bad environment, Dust Capacity is large, low visibility, and working space is narrow, very easily departs from operative orientation and the loss causing plant equipment, therefore requires higher to equipment performance.And coal production is the industry that a serious accident takes place frequently, death tolls is far away higher than the average accident death rate of developed country and the world.Development unmanned, realizes the unmanned of work plane to the full extent, contributes to the safety improving manufacturing process, is a direction of coal mine machinery development.
Downhole production equipment maximizes increasingly, high speed, automation and intellectuality, year producing coal amount also rise year by year, once there is equipment fault, the loss caused is also just larger, therefore also improves further the requirement of the safety of system, reliability and validity.
And the prerequisite of coal-winning machine identification coal petrography cutting proterties is the working status parameter of acquisition coal-winning machine and carries out status monitoring.Development is used in the airborne high capacity data record instrument system of down-hole electromechanical equipment can Real-time Collection and record the various working status parameter of this equipment, realizes tracking and the record of the instantaneous operating conditions parameter that equipment health is run, identifies coal petrography cutting proterties hardness.
The different rock of composition and hard field trash is contained in the tissue of coal seam, their content, shape and physics one engineering properties is different, add in coal bed texture have the crack such as bedding (point aspect of natural formation in sedimentary mineral), joint (the shear failure face formed by the effect of various geology power), so make coal seam different in kind everywhere, namely coal is a kind of heterogeneous body, anisotropic brittle substance.
Hardness or soundness are a kind of overall targets representing the broken complexity of coal petrography, and it is the general performance of the effects such as coal and rock opposing pulling force, shearing, bending and heating power.
Hardness factor f represents the soundness size of coal petrography.That Soviet Union scholar Pu Luotuo Ji Yakenuofu proposed, therefore also known as Protodyakonov coefficient in nineteen twenty-six.Hardness factor can be measured with smashing to pieces method, the wherein a kind of method calculating Protodyakonov coefficient can also be adopted, namely according to the ultimate compressive strength σ of coal petrography
y(MPa) approximately to determine.
China's hardness factor carries out rock mass classification and coal seam classification.Coal and soft rock f≤4, middle hard rock f=4 ~ 8, hard rock f >=8, the hardest rock f reaches 20; Also specify: the coal of f≤1.5 is cherry coal, and the coal of f=1.5 ~ 3.0 is middle hard coal, and the coal of f >=3 is hard coal simultaneously.
Research coal-winning machine machine operation parameter and coal petrography hardness interact relation, wherein, machine operation parameter mainly studies cutting motor and traction electric machine running parameter, cutting motor is the power resources that cylinder performs circumgyration incision, therefore cylinder coal petrography cutting bearing load will be passed to cutting motor by transmission mechanism, and the resistance along coal-winning machine direction of travel that cylinder bears affects traction electric machine equally, in addition the oil pressure of the hoist cylinder of coal-winning machine left and right rocking arm and the hauling speed of traction electric machine are also the important key parameters weighing identification coal petrography proterties.
Carrying out the inventory analysis of mine shearer multi-parameters sampling is identify that the meaning of coal petrography cutting proterties mainly contains:
(1) a large amount of initial data in time obtaining mine shearer work, for it identifies that the research of coal petrography proterties and Gernral Check-up provides valuable data;
(2) for mine shearer autonomous cut functional realiey design and improve provide important reference data and method.
(3) be the informationization that coal mine downhole safety is produced, and the final unmanned the most original most basic data reference of research accumulation.
Summary of the invention
Main purpose of the present invention is, a kind of coal-rock interface analytical method based on coal-winning machine perception is provided, solve an above-mentioned difficult problem, with reach to mine shearer by airborne long-time huge storage capacity recording himself the requirement of various running state parameters and the comprehensive voltage analyzed based on cutting motor and traction electric machine, electric current, temperature, torque information, and assistant analysis rocking arm vibration signal, coal-winning machine left and right radial up-down oil cylinder working-pressure, traction electric machine rate signal, set up the different frequency range energy feature using wavelet packet analysis vibration signal, use the feature distribution of probability statistics sample analysis cutting motor running parameter, multi-sensor information fusion technology comprehensively sets up different coal petrography trait data storehouse, realize the analytical method based on coal-winning machine perception coal-rock interface.
Analytical system based on coal-winning machine perception coal-rock interface comprises: Mass Data Storage Facility, the electric master controller of coal-winning machine, essential safe type vibration acceleration sensor, vibration data transmission cable, communication data transfer line, coal-winning machine airborne power supply.
Mainly refer to voltage, electric current, temperature, the torque information of cutting motor and traction electric machine based on the multi-parameter in the analytical method of coal-winning machine perception coal-rock interface, rocking arm vibration information, coal-winning machine posture information, above-mentioned analytical method is as follows:
Cutting motor voltage x current determination coal petrography cutting properties and characteristics value analytical method
By gathering the voltage x current information storing coal-winning machine cut left and right cutting motor and traction electric machine, use the feature distribution of probability statistics sample analysis cutting motor running parameter, determine the database identifying cylinder coal petrography cutting various trait characteristic value, the model that theorizes of this characteristic value is by calculating cutting motor input power, general coal-winning machine is threephase asynchronous machine, and the computational methods of its performance number are as follows:
U
l---cutting motor line voltage;
I
l---cutting motor line current;
---cutting motor power factor (PF).
Ignore stator copper loss, the electromagnetic torque of cutting motor is approximately Driving Torque:
ω---cutting motor rotating speed (ω=2 π f/p
n, f is supply frequency, p
nfor motor number of pole-pairs);
Under general cut state, the electromagnetic torque of cutting motor and the equilibrium equation of resistance torque are:
ηK
pT
e＝T
L(1.3)
T
l---resistive torque;
η---machinery driving efficiency, constant (known more step reduction mechanism machine driving parameter);
K
p---motor load coefficient, constant (actual power when motor runs and the ratio of rated power).
The tangential force that now cutting motor produces at cylinder place through transmission is about:
F---cylinder tangential forces;
R
head---cylinder mean radius;
Cylinder is when coal petrography cutting, and the tangential forces of direction of rotation is to the pressure of coal petrography:
P
a---pressure suffered by coal petrography;
A---participate in the pick projected area sum of cut;
Cylinder when along direction of rotation coal petrography cutting, the uniaxial compressive strength of rock and suffered pressure relation:
δ
c≈P
a(1.6)
By formula (3.7-3.13), following relation of deriving:
Order
From formula (1.7), cutting motor line voltage U
l, cutting motor line current I
lgathered and record by coal-winning machine black box; Cutting motor power factor (PF)
determine according to Motor Production Test parameter, motor load COEFFICIENT K
pfor constant (actual power when motor runs and the ratio of rated power).Wherein machinery driving efficiency η, cutting motor rotational speed omega (unit rad/s), cylinder mean radius R
headthe pick projected area sum A (about whole half cylinder cut pick) of (unit m), participation cut can obtain relevant parameter according to coal-winning machine manual.
Determine the multiple duty of coal-winning machine (i.e. operating mode), by analyzing the cutting motor running parameter of coal-winning machine, in conjunction with record operating mode, the Changing Pattern of cutting motor running parameter during announcement cylinder coal petrography cutting different medium, especially the variation model of Protodyakonov coefficient and power of motor is set up according to cutting motor and coal petrography hardness empirical formula, by mine shearer test data building database.
The distribution of cutting motor power probability density can embody the cut load under the different operating mode of coal mining machine roller, namely the cut medium of cylinder is inferred by the different crests in probability density distribution figure, theoretical according to coal petrography cut compact core, the probability density crest of cutting motor power is mainly cut top board, coal petrography and zero load.The top board in known test job face, coal petrography hardness parameter, according to correction value K in the machine operation parametric inference empirical formula of coal-winning machine.
Coal petrography hardness Protodyakonov coefficient and correction factor empirical value mathematical modeling as follows:
By formula
Can obtain:
First according to the cylinder coal petrography cutting proterties situation determination coal petrography hardness Protodyakonov coefficient f of known underground coal mine, calculate correction value K in empirical formula, complete the foundation of database; Then the hardness factor of cylinder cut medium is estimated according to the empirical value K of correction value, the voltage of the cutting motor of collection, current value, thus judge the hardness number treating coal petrography cutting medium, complete the function according to coal-winning machine cutting motor Parameter analysis identification coal petrography hardness.
Cutting motor temperature determination coal petrography cutting properties and characteristics value analytical method
The change of cutting motor winding temperature changes utilize data difference approximating method to obtain following interact relation formula with current of electric:
T＝M×F(U
L,I
L,r)
T---cutting motor winding temperature value
M---variations in temperature direct proportion coefficient empirical value;
F---difference fitting function, empirical function (obtaining according to sample data study);
R---cutting motor winding thermal losses coefficient, constant.
So observation motor winding temperature, obtaining anti-design formulas is:
(U
L,I
L)＝F
-1(T,M,r)
F
-1---difference fitting function inverse function, empirical function (obtaining according to sample data study);
In conjunction with coal petrography hardness Protodyakonov coefficient and cutting motor voltage x current Mathematical Modeling, the relational expression obtaining temperature parameter and Protodyakonov coefficient is:
Wherein θ---cutting motor winding temperature and power of motor index of correlation, (obtaining according to sample data).
Cutting motor moment information determination coal petrography cutting properties and characteristics value analytical method
Coal-winning machine cutting motor belongs to high-power, high-torque output equipment, and the torque sensor of motor can not obtain moment information accurately usually, therefore coordinates other multiple information datas to merge and differentiates that coal petrography proterties is more scientific and reasonable.
Utilize the information T of torque sensor
sensorwith resistive torque T
lapproximation ratio relation, follow according to following prediction equation:
F---cylinder tangential forces;
R
head---cylinder mean radius;
Cylinder is when coal petrography cutting, and the tangential forces of direction of rotation is to the pressure of coal petrography:
P
a---pressure suffered by coal petrography;
A---participate in the pick projected area sum of cut;
Above-mentioned a kind of coal petrography proterties recognition system based on coal-winning machine cutting motor multi-parameter and method are according to voltage, electric current, temperature, the torque information of cutting motor, and the information such as the voltage of traction electric machine, electric current, temperature, rotating speed, torque, judged the hardness range of coal petrography cutting by the principal component method of multi-sensor information fusion technology, method is as follows:
(1) the multi-parameter matrix X of coal petrography stiffness characteristics matrix X and cutting motor is determined
cutwith the multi-parameter matrix X of traction electric machine
walk;
(2) calculate covariance determine PCA according to eigenvalue matrix, obtain covariance matrix;
(3) coal petrography hardness Protodyakonov coefficient is judged according to characteristic value after the dimensionality reduction result of eigenmatrix.
Rocking arm vibration information feature extraction identification coal petrography proterties method
Rocker arm of coal mining machine vibration data under utilizing Mine-used I. S vibrating sensor to measure underground coal mine fully-mechanized mining working various working, according to the different working conditions of cylinder cut coal, shale top board, mud stone base plate, utilize wavelet packet signal analysis method, obtain the time-frequency domain decomposed signal of third layer 4 radio-frequency components, according to the function expression after coefficient reconstruct, calculate signal energy in each frequency range as characteristic vector, when determining coal-winning machine coal petrography cutting, rocking arm vibration performance vector is: T=[E
20, E
21, E
22, E
23], wherein T is rocking arm vibration performance vector; Eij is time-frequency domain decomposed signal energy value, and wherein i represents Decomposition order, and j represents the order of the decomposition coefficient in every one deck; Described rocking arm vibration performance vector removes normalization coefficient K=1000 based on experience value, obtains vibrational energy normalization characteristic vector to be
Coal-winning machine multi-sensor information fusion fuzzy diagnosis coal-rock interface method
According to the hardness difference (difference of cut quality Q) of cut medium in coal rock layer, utilize multi-sensor information analytical method to determine to characterize the cut quality Q of cut media hardness, the scope that is subordinate to according to Q judges cut Jie qualitative attribution; Definition and the account form of described cut quality Q are as follows: the parameter that the coal rock for coal cutter identification based on multi-sensor information fusion needs comprises rocking arm place vibration signal characteristics vector T, coal-winning machine pose parameter vector X, Protodyakonov coefficient f (the wherein f=k of the sign coal petrography hardness of cutting motor voltage x current and temperature information reflection
1* f
1+ k
2* f
2, k1, k2 represent the scale experience value of cutting motor voltage x current and cutting motor temperature reflection coal petrography hardness Protodyakonov coefficient respectively, are obtained, f by production site experiment
1represent cutting motor voltage x current reflection coal petrography hardness Protodyakonov coefficient, f
2represent cutting motor temperature reflection coal petrography hardness Protodyakonov coefficient).
Definition coal-winning machine cut quality be Q, Q ∈ [0,1), 0 to represent cylinder cut hardness be the medium of 0, and the suitable cut media hardness of 0-1 representative, 1 cylinder cut is not suitable for the total rock top board of cut hardness.
Q＝μ
Q(T，X,f)
In formula, X is that coal-winning machine pose parameter vector comprises the position of coal-winning machine in work plane, and the attitude information of cylinder cut, μ
qthe computational methods of membership function.The coal-rock interface analytical method of coal-winning machine multi-parameter perception can be realized by the calculating of Q.
The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Accompanying drawing explanation
Fig. 1 is present system structural representation
Fig. 2 is the probability density distribution figure of coal petrography hardness Protodyakonov coefficient and correction value ratio
In Fig. 1:
1: Mass Data Storage Facility 2: embedded computer board
3: Large Copacity solid state hard disc 4: serial communication modular
5: motor information acquisition module 6: oil cylinder information acquisition module
7: traction electric machine information acquisition module 8: coal-winning machine
9: vibration information acquisition module
Detailed description of the invention
For further setting forth the present invention for the technological means reaching predetermined goal of the invention and take and effect, below in conjunction with accompanying drawing and preferred embodiment, to a kind of detailed description of the invention of the coal-rock interface analytical method based on coal-winning machine perception proposed according to the present invention, structure, feature and effect thereof, be described in detail as follows.
Aforementioned and other technology contents, Characteristic for the present invention, can know and present in the detailed description of following cooperation with reference to graphic preferred embodiment.By the explanation of detailed description of the invention, when can to the present invention for the technological means reaching predetermined object and take and effect be able to more deeply and concrete understanding, however institute's accompanying drawings be only to provide with reference to and the use of explanation, be not used for being limited the present invention.
A kind of coal-rock interface analytical method based on coal-winning machine perception of present pre-ferred embodiments, as shown in Figure 1, by comprising Mass Data Storage Facility, the electric master controller of coal-winning machine, essential safe type vibration acceleration sensor, vibration data transmission cable, communication data transfer line, coal-winning machine airborne power supply forms.
Described Mass Data Storage Facility is arranged in the electric control box of coal-winning machine self, is powered by supply module in electric control box, provides 24 volts of direct current supplys.This Mass Data Storage Facility is formed by embedded computer board, serial communication modular, Large Copacity solid state hard disc compact package, and is externally provided multiple communication interface, completes the transmission of data.The outbound data interface that described Mass Data Storage Facility provides is serial communication modular and vibration signals collecting module, the main control unit in the electric control box of coal-winning machine is connected by this serial communication modular, set unified data communication protocol, after Mass Data Storage Facility and coal-winning machine are all opened, at once completed the communication of data by this serial communication modular; Externally connect essential safe type vibration acceleration sensor by vibration signals collecting module, gather the equipment key position vibration signal after the conditioning of essential safe type vibration acceleration sensor Signal-regulated kinase.When device power is opened, Mass Data Storage Facility starts immediately, the user program startup optimization of its inside, starts collection and the storage of data.
Described embedded computer board; be arranged in Mass Data Storage Facility; be not only high temperature-proof but also the mainboard of the low-power consumption of anti-high humidity, the mainstream operation systems such as Windows XP can be run, also can run the embedded OS that XP Embedded or Windows CE etc. have power-off protector.This embedded computer board is realized with coal-winning machine communication by serial communication modular.Described serial communication modular is the RS232/RS485 interface that plate carries, and is connected the serial communication modular of coal-winning machine ECU by RS232/RS485 interface, thus realizes with electromechanical equipment communication, can carry mass-memory unit.This embedded computer board is the kernel control module of this system, runs embedded OS, and completed collection and the record of data by the user program running exploitation, every bar data of record can be accurate to a millisecond rank.
Described vibration information acquisition module, be arranged in Mass Data Storage Facility, multichannel collecting can be realized, single double-end signal input that hardware is adjustable, the sample frequency that software is adjustable, is connected with mainboard USB interface, and provide power supply by this interface, realize high speed acquisition vibration acceleration signal, and import signal into embedded computer board by mainboard USB interface, and by embedded computer board by real-time for vibration acceleration signal stored in Large Copacity solid state hard disc.
Described Large Copacity solid state hard disc, its non-volatile storage character and antivibration characteristic, can ensure the stable vibration signal of real-time storage from coal-winning machine and the status signal of coal-winning machine, its jumbo memory space can complete and store these signals for a long time.In storing according to the data of the Large Copacity solid state hard disc in Fig. 1, an example of its data stored is: data be stored in the text of file csv form; The data of serial communication modular collection be stored in embedded database SQLite, its major design is used for embedded-development environment, and need not install, code is increased income, maximum support 2TB capacity.The database set up has third party software to provide visualization interface for inquiry and Update Table storehouse.The code of this database can be grafted directly in our programming by we.The basic entry of every bar data record comprises: the time (date Hour Minute Second), can be accurate to millisecond; Equipment status parameter information (voltage, electric current, vibration acceleration).
Described essential safe type vibration acceleration sensor, its essential safety characteristic can make it work on the coal-winning machine requiring essential safety working environment, an example is multiple key positions essential safe type vibration acceleration sensor being arranged on downhole coal mine equipment, when coal-winning machine works, the vibration characteristics of recording equipment key position.
Described coal-winning machine, main control unit in it self electromechanical equipment electric control box is by the voltage of the cutting motor and traction electric machine that gather self, electric current, temperature, torque, rotating speed, the signal of cylinder sensor etc., it can be used as equipment self working status parameter to be transferred to process and record in Mass Data Storage Facility.
A kind of coal petrography proterties recognition system based on coal-winning machine cutting motor multi-parameter of present pre-ferred embodiments and method, be the coal-winning machine of MG400/940-WD by model in example, adopt motor---rocking arm---Planetary Gear Transmission---roller frame, this kind of drive have employed the separate electrical motor of vertical output shaft, make motor reel parallel with drum shaft, thus eliminate the bevel gear of large, the easy loss of carrying, cutting units is more simplified.Adopt this kind of drive to obtain and larger heighten scope, and coal-winning machine fuselage length is shortened further.
The transmission efficiency of machinery refers to the ratio of " output " and " input " in the process of mechanical work, and the mechanical efficiency for coal-winning machine mainly should consider the efficiency of motor, the principal element such as transmission efficiency, efficiency of bearing of gear.In this paper, what motor adopted is threephase asynchronous machine, and its efficiency is generally 91.5%; The transmission efficiency of gear is all relevant with the type of gear, machining accuracy and lubrication circumstances, and can to table look-up the transmission efficiency found according to the accuracy of manufacture of gear, lubricating condition, be 0.97 for common seven grades of its efficiency of roller gear; Every pair of engaged gears efficiency be multiplied with regard to the total transmission efficiency of gear transmitting portions, the efficiency of generally spur gear wheel transmission is 0.9 ~ 0.99 again, and conventional 8 grades of spur gear wheel transmissions are 0.97; For the efficiency of bearing, the efficiency of rolling bearing is generally at 0.98-0.99, and transmission efficiency is higher.
Cutting motor line voltage U
l, cutting motor line current I
lgathered and record by the coal petrography proterties recognition system based on coal-winning machine cutting motor multi-parameter, cutting motor power factor (PF)
determine according to Motor Production Test parameter, motor load COEFFICIENT K
pfor constant (actual power when motor runs and the ratio of rated power).Wherein machinery driving efficiency η, cutting motor rotational speed omega (unit rad/s), cylinder mean radius R
headthe pick projected area sum A (about whole half cylinder cut pick) of (unit m), participation cut can obtain relevant parameter according to coal-winning machine manual.
The YBCS4 that cutting units is selected-the asynchronous flame-proof electric motor of three-phase squirrel cage of 400, its major parameter is as follows:
Rated power: 400KW; Rated voltage: 3300V;
Full-load current: 98A; Rated speed: 1470r/min;
Full load efficiency: 0.915; The class of insulation: H;
Full-load power factor: 0.85; The mode of connection: Y;
Quality: 1150Kg; The type of cooling: shell water-cooled
With involute spline on this motor output shaft, by this spline motor by export power transmission to the gear reduction of rocking arm.
Determine the rotating speed n of each axle, power P, torque T
1) each axle rotating speed n is determined
N
1=n
motor=1470r/min
n
2＝n
1＝1470r/min
n
3＝n
2/i
1＝1470/1.77＝830r/min
n
4＝n
3/i
2＝830/1.76＝472r/min
n
5＝n
4＝472r/min
n
6＝n
5/i
3＝472/2.238＝211r/min
N
7=n
6/ i
planet=211/6=35r/min
2) determine that each axle inputs specified power P
P
1＝400kW
P
2＝P
1＝400kW
P
3＝P
2×η
1×η
2＝400×0.97×0.99＝384kW
P
4＝P
3×η
1×η
2＝384×0.97×0.99＝369kW
P
5＝P
4＝369kW
P
6＝P
5×η
1×η
2＝369×0.97×0.99＝354kW
P
7＝P
6＝354kW
In formula:
η
1-gear mesh efficiency, η
1=0.97;
η
2-efficiency of bearing, η
2=0.99.
Through above-mentioned calculating, obtain the parameter occurrence of empirical formula 1.6, as shown in table 1 and formula 1.7.
The parameter occurrence of table 1 empirical formula
Power factor (PF)
change with load change, general standard value is the power factor (PF) of full load, under normal circumstances, load is lower, and power factor (PF) is less, the change of cutting motor running parameter when this paper focuses on to study rock stratum, floor, cylinder cut top under high capacity, according to actual coal-winning machine working experience, cutting motor overload situations is less, presses in not influence research object in conjunction with actual conditions condition, simplify and calculate, get the standard value that power factor (PF) is full load.
By formula
obtain cutting motor power and the Protodyakonov coefficient relation formula characterizing coal petrography hardness, substitute into the constant value in table 3.4, obtain formula (1.12)
Wherein K
pbe similar to and get cutting motor YBCS4-400 full load rated efficiencies 0.915.
By formula
Can obtain:
As in Fig. 2:
(1) Protodyakonov coefficient at data point 4 place and the ratio f/K of correction value are 3740.Consider the probability distribution P (X< (f/K=3740))=98.36% of data point 4.So think that data point 4 is the value of the f/K that coal-winning machine cut medium is the hardest.
The value scope that (2) second main wave bands (f/K ∈ [3164,3740]) are the normal f/K of coal mining machine roller coal petrography cutting medium, face roof is good, smooth.Coal mining machine roller normally works and does not generally contact top board, therefore, and coal hardness Protodyakonov coefficient f=2 ~ 3 in real work face.This cut work correction value K ∈ [(2/3740), (3/3164)]=[0.0005,0.0009].
In view of the repeatability of data interpretation, in example, the explanation of cutting motor electric current, voltage, power and coal petrography hardness Protodyakonov coefficient and correction value ratio f/K is repeated no more below, first main wave band is that coal-winning machine is unloaded, second main wave band is coal-winning machine actual loading coal petrography cutting, and emphasis is by the span of sample training correction value K.
For according to adjusted coefficient K, checking infers that Protodyakonov coefficient f has distinguishing, get K=10 × 10-4, achieve the case verification of multi-parameter (voltage of cutting motor and traction electric machine, electric current, temperature, torque information) the information fusion identification coal petrography hardness method based on coal-winning machine cutting motor.
Characterize the weight vectors u=(u of the sensor information data of coal-winning machine coal petrography cutting
1, u
2..., u
n) ∈ (δ
1, δ
2..., δ
n), and meet
reflect the significance level of i-th factor.U
1cutting motor message reflection coal-rock interface factor, u
2rocking arm place vibration information reflection coal-rock interface factor, u
3coal mining machine rocker arm height oil cylinder load information projection coal-rock interface factor, u
nbe the n-th coal-winning machine sensor information reflection coal-rock interface factor, the significance level according to its correspondence has:
δ
1＞δ
2＞δ
3＞…＞δ
n
Cutting motor identification coal-rock interface function
because the codomain of f be based on experience value (0,20], normalization A
1(u
1) codomain, order
Determine vibration signal Wavelet Packet Energy Eigenvector, no matter be coal cutting characteristic vector, still cut balkstone characteristic vector, cutting balkstone characteristic vector if determine is reference vector, determines in the characteristic value of coal cutting, the characteristic vector of cutting under rock state and range of tolerable variance.
Determine the occurrence in coal cutting and the characteristic vector under cutting rock operating mode:
Range of tolerable variance:
N is test number (TN), and K is factor of proportionality, and its empirical value generally gets 3-5.
The characteristic vector of range of tolerable variance:
Range of tolerable variance definition allows the error in certain statistical probability when determining sample canonical value identification experimental data vector.
Then make:
Rock vector will be cut and orientate the value maximum value of characteristic vector as, and get it and do denominator and can weigh operating mode in the span of (0,1).
If determine, unloaded characteristic vector is reference vector, then make:
Meet A
2(u
2) codomain be [0,1], 0 for cutting full coal, and 1 for cutting balkstone.
In the process of sample learning, meet
condition under, can δ be made
1=0.5, δ
2=0.3, δ
2=0.1 ..., δ
n=0.01.Then have:
Tentatively obtain multisensor and differentiate coal-rock interface vague definition membership function A (u).
Basic conception of the present invention as mentioned above.But, in technical field of the present invention, as long as possess the most basic knowledge, can improve other exercisable embodiments of the present invention.Propose patent protection request to Substantial technical scheme in the present invention, its protection domain should comprise all variation patterns with above-mentioned technical characterstic.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be the content not departing from technical solution of the present invention, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (4)
1. the coal-rock interface analytical method based on coal-winning machine perception, described method realizes based on a kind of coal-rock interface analytical system based on coal-winning machine perception, described system is by Mass Data Storage Facility, the electric master controller of coal-winning machine, essential safe type vibration acceleration sensor, vibration data transmission cable, communication data transfer line and coal-winning machine airborne power supply composition, wherein, described Mass Data Storage Facility is arranged in the electric control box of coal-winning machine, be connected by the serial ports of serial communication modular with coal-winning machine ECU, also connect vibration data transmission cable by vibration information acquisition module, described Mass Data Storage Facility is powered by coal-winning machine airborne power supply, described Mass Data Storage Facility also comprises:
Embedded computer board, receives the various data processing and collect; Described embedded computer board is by sending command request serial communication modular by information transmission to coal-winning machine, and coal-winning machine serial communication modular accepts instruction and by the voltage of cut and traction electric machine, electric current, temperature, torque, rotary speed information and oil cylinder information transmission to Mass Data Storage Facility; Vibrating data collection module, 8 road signals after gathering by the conditioning of essential safe type vibration acceleration sensor; Described vibrating data collection module is powered by embedded computer board USB interface and is realized the communication with embedded computer board;
Large Copacity solid state hard disc, as storage device records data; Described Large Copacity solid state hard disc is non-volatile, that rewritable, anti-seismic performance are good memory device;
It is characterized in that: described recognition methods stores by vibration signal by gathering, the voltage x current of winning machine cutting part left and right cutting motor and traction electric machine and temperature moment of torsion, coal-winning machine left and right radial up-down oil cylinder working-pressure, the coal-winning machine running parameter of traction electric machine rate signal composition, analyze coal mining machine roller pick cutting coal, the sensor signal characteristic in rock different top base plate situation, multi-sensor information fusion technology is used comprehensively to set up different coal petrography trait data storehouse, the coal-rock interface of coal-winning machine perceived blur definition is realized by the perceived quality calculating difference coal petrography hardness property of fuzzy mathematics membership function.
2. a kind of coal-rock interface analytical method based on coal-winning machine perception as claimed in claim 1, is characterized in that
Changing according to the change of cutting motor winding temperature and current of electric utilizes data difference approximating method to obtain mathematical modeling formula: T=M × F (U
l, I
l, r), in conjunction with the Protodyakonov coefficient and the cutting motor voltage x current Mathematical Modeling that characterize coal petrography proterties hardness, obtain utilizing the identification of motor temperature parameter to characterize the Protodyakonov coefficient of coal petrography proterties, its relational expression is:
F---characterize the Protodyakonov coefficient of coal petrography proterties hardness;
K---characterize the correction value of cutting motor parameter and Protodyakonov coefficient relation formula;
δ
c---the uniaxial compressive strength of rock;
T---cutting motor winding temperature value;
M---variations in temperature direct proportion coefficient empirical value;
R---cutting motor winding thermal losses coefficient, constant;
F
-1---difference fitting function inverse function, empirical function (obtaining according to sample data study);
θ---cutting motor winding temperature and power of motor index of correlation, (obtaining according to sample data).
Described a kind of coal-rock interface analytical method based on coal-winning machine perception, being further characterized in that by gathering the voltage x current information determination coal petrography cutting properties and characteristics value analytical method storing coal-winning machine cutting motor, obtaining utilizing the identification of cutting motor voltage and current parameter to characterize the empirical formula of the Protodyakonov coefficient of coal petrography proterties:
Order
meet
From formula (1.1), cutting motor line voltage U
l, cutting motor line current I
lgathered and record by coal-winning machine black box; Cutting motor power factor (PF)
determine according to Motor Production Test parameter, motor load COEFFICIENT K
pfor constant (actual power when motor runs and the ratio of rated power).Wherein machinery driving efficiency η, cutting motor rotational speed omega (unit rad/s), cylinder mean radius R
headthe pick projected area sum A (about whole half cylinder cut pick) of (unit m), participation cut can obtain relevant parameter according to coal-winning machine manual.
3. a kind of coal-rock interface analytical method based on coal-winning machine perception as claimed in claim 1, is characterized in that
Rocker arm of coal mining machine vibration data under utilizing Mine-used I. S vibrating sensor to measure underground coal mine fully-mechanized mining working various working, according to the different working conditions of cylinder cut coal, shale top board, mud stone base plate, utilize wavelet packet signal analysis method, obtain the time-frequency domain decomposed signal of third layer 4 radio-frequency components, according to the function expression after coefficient reconstruct, calculate signal energy in each frequency range as characteristic vector, when determining coal-winning machine coal petrography cutting, rocking arm vibration performance vector is: T=[E
20, E
21, E
22, E
23],
Wherein T is rocking arm vibration performance vector; E
ijfor time-frequency domain decomposed signal energy value, wherein i represents Decomposition order, and j represents the order of the decomposition coefficient in every one deck;
Described rocking arm vibration performance vector removes normalization coefficient K=1000 based on experience value, obtains vibrational energy normalization characteristic vector to be
4. a kind of coal-rock interface analytical method based on coal-winning machine perception as claimed in claim 1, is characterized in that
According to the hardness difference (difference of cut quality Q) of cut medium in coal rock layer, utilize multi-sensor information analytical method to determine to characterize the cut quality Q of cut media hardness, the scope that is subordinate to according to Q judges cut Jie qualitative attribution;
Definition and the account form of described cut quality Q are as follows:
The parameter needed based on the coal rock for coal cutter identification of multi-sensor information fusion comprises rocking arm place vibration signal characteristics vector T, coal-winning machine pose parameter vector X, Protodyakonov coefficient f (the wherein f=k of the sign coal petrography hardness of cutting motor voltage x current and temperature information reflection
1* f
1+ k
2* f
2, k
1, k
2represent the scale experience value of cutting motor voltage x current and cutting motor temperature reflection coal petrography hardness Protodyakonov coefficient respectively, obtained by production site experiment, f
1represent cutting motor voltage x current reflection coal petrography hardness Protodyakonov coefficient, f
2represent cutting motor temperature reflection coal petrography hardness Protodyakonov coefficient);
Definition coal-winning machine cut quality be Q, Q ∈ [0,1), 0 to represent cylinder cut hardness be the medium of 0, and 0-1 represents coal cutting and other dirt bands, the total rock top board that 1 cylinder cut is the hardest;
Q＝μ
Q(T，X,f) (1.2)
In formula, X is that coal-winning machine pose parameter vector comprises the position of coal-winning machine in work plane, and the attitude information of cylinder cut, μ
qthe computational methods of membership function.
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