CN104405391B - A kind of coal-rock interface based on coal-winning machine perception analyzes method - Google Patents
A kind of coal-rock interface based on coal-winning machine perception analyzes method Download PDFInfo
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- CN104405391B CN104405391B CN201410563527.5A CN201410563527A CN104405391B CN 104405391 B CN104405391 B CN 104405391B CN 201410563527 A CN201410563527 A CN 201410563527A CN 104405391 B CN104405391 B CN 104405391B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C39/00—Devices for testing in situ the hardness or other properties of minerals, e.g. for giving information as to the selection of suitable mining tools
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- E—FIXED CONSTRUCTIONS
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- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Abstract
The present invention relates to a kind of coal-rock interface based on coal-winning machine perception and analyze method, the coal-rock interface being based on a kind of coal-winning machine perception analyzes what system realized, and system is made up of Mass Data Storage Facility, the electric master controller of coal-winning machine, essential safe type vibration acceleration sensor etc.；Method is to pass through vibration signal, coal-winning machine cut and traction electric machine voltage x current and temperature moment of torsion, rocker arm of coal mining machine hoist cylinder pressure, the coal-winning machine running parameter of traction electric machine rate signal composition, analyze coal mining machine roller pick cutting coal, signal characteristic in rock different top base plate situation, use wavelet packet analysis vibration signal different frequency range energy feature, 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, coal-winning machine perception coal-rock interface is defined by fuzzy mathematics theory, coal-rock interface degree of membership is calculated according to coal-winning machine perception multi-sensor information, thus as Coal-Rock Interface Recognition foundation。
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 based on coal-winning machine perception of underground coal mine and analyze method。
Background technology
Underground coal mine large-scale digging equipment, refers to the various development machines that the various coal-winning machines used into underground coal mine fully-mechanized mining working and fully mechanized workface use, and is main equipment the most key during coal comprehensive mechanization produces。
In underground work, work under bad environment, Dust Capacity is big, low visibility, and work space is narrow, and very easily deviation operative orientation and the loss causing plant equipment, therefore require higher to equipment performance。And coal production is the industry that a serious accident takes place frequently, death tolls is significantly larger than the average accident death rate of developed country and the world。Development unmanned, realizes the unmanned of work surface to the full extent, is favorably improved the safety of production process, is a direction of coal mine machinery development。
Downhole production equipment maximizes increasingly, high speed, automatization and intellectuality, year producing coal amount also rise year by year, once there is equipment fault, the loss caused is also just bigger, therefore the requirement of the safety of system, reliability and effectiveness is also improved further。
And the premise of coal-winning machine identification coal petrography cutting character is to obtain the working status parameter of coal-winning machine and carry out status monitoring。Developing the airborne high capacity data record instrument system being used in down-hole electromechanical equipment can Real-time Collection and record the various working status parameter of this equipment, it is achieved the tracking of the instantaneous operating conditions parameter that equipment health is run and record, identifies coal petrography cutting character hardness。
Coal seam tissue contains the different rock of composition and hard field trash, their content, shape and physics one engineering properties are different, plus coal bed texture has the cracks such as layer reason (the layering face naturally occurred in sedimentary mineral), joint (the shear fracture face formed by the effect of various geology power), so that coal seam different in kind everywhere, namely coal is a kind of heterogeneous body, anisotropic brittle substance。
Hardness or robustness are a kind of aggregative indicatores 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 robustness size of coal petrography。It is that the general Rothau Ji Yakenuofu of Soviet Union scholar proposed in nineteen twenty-six, therefore also known as Protodyakonov coefficient。Hardness factor can be measured, it is also possible to adopt the one of which method calculating Protodyakonov coefficient, i.e. the compressive ultimate strength σ according to coal petrography with smashing to pieces methody(MPa) approximate determine。
China carries out rock mass classification and coal seam classification with hardness factor。Coal and soft rock f≤4, middle hard rock f=4～8, hard rock f >=8, the hardest rock f reaches 20；It further provides for: the coal of f≤1.5 is cherry coal, the coal of f=1.5～3.0 is middle hard coal simultaneously, and the coal of f >=3 is hard coal。
Research coal-winning machine motor running parameter affects relation with coal petrography hardness, wherein, motor running 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 transferred to cutting motor by drive 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 weighed and identify coal petrography character。
Carry out the storage analysis of mine shearer multi-parameters sampling mainly to have for the meaning identifying coal petrography cutting character:
(1) for it, a large amount of initial datas in time obtaining mine shearer work, identify that the research of coal petrography character and Gernral Check-up provides valuable data；
(2) for the design of mine shearer autonomous cut functional realiey and improve provide important reference data and method。
(3) informationization produced for coal mine downhole safety, and the final unmanned research the most original most basic data refer data of accumulation。
Summary of the invention
Present invention is primarily targeted at, a kind of coal-rock interface based on coal-winning machine perception is provided to analyze method, 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 comprehensively analyze the voltage 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 analysis method based on coal-winning machine perception coal-rock interface。
Analysis system based on coal-winning machine perception coal-rock interface includes: 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。
Be primarily referred to as cutting motor and the voltage of traction electric machine, electric current, temperature, torque information, rocking arm vibration information, coal-winning machine posture information based on the multiparameter in the analysis method of coal-winning machine perception coal-rock interface, above-mentioned analysis method is as follows:
Cutting motor voltage x current determines that coal petrography cutting properties and characteristics value analyzes method
By gathering the voltage x current information of storage 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 data base identifying cylinder coal petrography cutting various trait eigenvalue, the model that theorizes of this eigenvalue 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:
ULCutting motor line voltage；
ILCutting motor line current；
Cutting motor power factor (PF)。
Ignoring stator copper loss, the electromagnetic torque of cutting motor is approximately output torque:
ω cutting motor rotating speed (ω=2 π f/pn, f is supply frequency, pnFor motor number of pole-pairs)；
Under general cut state, the equilibrium equation of the electromagnetic torque of cutting motor and resistance torque is:
ηKpTe=TL(1.3)
TLResistive torque；
η machinery driving efficiency, constant (known more step reduction mechanism machine driving parameter)；
KpMotor load coefficient, constant (actual power and the ratio of rated power) when motor runs。
The tangential force that now cutting motor produces at cylinder place through transmission is about:
F cylinder tangential forces；
RheadCylinder mean radius；
Cylinder when coal petrography cutting, the tangential forces of the direction of rotation pressure to coal petrography:
PaPressure suffered by coal petrography；
A participates 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:
δc≈Pa(1.6)
By formula (1.1-1.6), following relation of deriving:
Order
Meet
By formula (1.7) it can be seen that cutting motor line voltage UL, cutting motor line current ILGathered and record by coal-winning machine black box；Cutting motor power factor (PF)Determine according to Motor Production Test parameter, motor load COEFFICIENT KpFor constant (actual power and the ratio of rated power) when motor runs。Wherein machinery driving efficiency η, cutting motor rotational speed omega (unit rad/s), cylinder mean radius RheadThe 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 description。
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, set up the variation model of Protodyakonov coefficient and power of motor especially in accordance with cutting motor and coal petrography hardness empirical equation, test data building database by mine shearer。
The distribution of cutting motor power probability density can embody the cut load under coal mining machine roller difference operating mode, 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, infer correction value K in empirical equation according to the motor running parameter of coal-winning machine。
Coal petrography hardness Protodyakonov coefficient is as follows with correction factor empirical value mathematical modeling:
By formulaCan obtain:
First the cylinder coal petrography cutting character situation according to known underground coal mine determines coal petrography hardness Protodyakonov coefficient f, calculates correction value K in empirical equation, completes the foundation of data base；Then the hardness factor of cylinder cut medium is estimated according to the empirical value K of correction value, the voltage of cutting motor of collection, current value, thus judging 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 determines that coal petrography cutting properties and characteristics value analyzes method
The change of cutting motor winding temperature utilizes data difference approximating method to be affected relation formula as follows with current of electric change:
T=M × F (UL,IL,r)
T cutting motor winding temperature value
M variations in temperature direct proportion coefficient empirical value；
F difference fitting function, empirical function (obtains according to sample data study)；
R cutting motor winding thermal losses coefficient, constant。
So observation motor winding temperature, obtaining anti-computing formula is:
(UL,IL)=F-1(T,M,r)
F-1Difference fitting function inverse function, empirical function (obtains according to sample data study)；
In conjunction with coal petrography hardness Protodyakonov coefficient and cutting motor voltage x current mathematical model, the relational expression obtaining temperature parameter and Protodyakonov coefficient is:
Wherein θ cutting motor winding temperature and power of motor correlation coefficient, (obtaining according to sample data)。
Cutting motor moment information determines that coal petrography cutting properties and characteristics value analyzes method
Coal-winning machine cutting motor belongs to high-power, high-torque outut device, and the torque sensor of motor is generally not capable of obtaining moment information accurately, therefore coordinates other multiple information datas to merge and differentiates that coal petrography character is more scientific and reasonable。
Utilize the information T of torque sensorSensorWith resistive torque TLApproximation ratio relation, with according to following prediction equation:
F cylinder tangential forces；
RheadCylinder mean radius；
Cylinder when coal petrography cutting, the tangential forces of the direction of rotation pressure to coal petrography:
PaPressure suffered by coal petrography；
A participates in the pick projected area sum of cut；
Above-mentioned a kind of coal petrography character identification system and method based on coal-winning machine cutting motor multiparameter is according to the voltage of cutting motor, electric current, temperature, torque information, 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 multiparameter matrix X of coal petrography stiffness characteristics matrix X and cutting motor is determinedcutMultiparameter matrix X with traction electric machinewalk；
(2) according to eigenvalue matrix and calculate covariance and determine PCA, covariance matrix is obtained；
(3) coal petrography hardness Protodyakonov coefficient is judged according to eigenvalue after the dimensionality reduction result of eigenmatrix。
Rocking arm vibration information feature extraction identification coal petrography character method
Mine-used I. S vibrating sensor is utilized to measure the rocker arm of coal mining machine vibration data under underground coal mine fully-mechanized mining working various working, according to cylinder cut coal, shale top board, mud stone base plate different working conditions, utilize wavelet packet signal analysis method, obtain the time-frequency domain decomposed signal of 4 radio-frequency components of third layer, function expression after reconstructing according to coefficient, calculate the signal energy in each frequency range as characteristic vector, it is determined that during coal-winning machine coal petrography cutting, rocking arm vibration performance vector is: T=[E20,E21,E22,E23], 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 each layer；Described rocking arm vibration performance vector removes normalization coefficient K=1000 based on experience value, obtains vibrational energy normalization characteristic vector and is
Coal-winning machine multi-sensor information fusion fuzzy diagnosis coal-rock interface method
According to the hardness of cut medium different (difference of cut quality Q) in coal rock layer, utilize multi-sensor information to analyze method and determine the cut quality Q characterizing cut media hardness, judge cut Jie's qualitative attribution according to the scope that is subordinate to of Q；Definition and the calculation 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 includes rocking arm place vibration signal characteristics vector T, coal-winning machine pose parameter vector X, Protodyakonov coefficient f (the wherein f=k characterizing coal petrography hardness of cutting motor voltage x current and temperature information reflection1*f1+k2*f2, k1, k2 represent cutting motor voltage x current and the scale experience value of cutting motor temperature reflection coal petrography hardness Protodyakonov coefficient respectively, are obtained by production site experiment, f1Represent cutting motor voltage x current reflection coal petrography hardness Protodyakonov coefficient, f2Represent 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 suitable cut media hardness, and 1 cylinder cut is not suitable for the total rock top board of cut hardness。
Q=μQ(T, X, f)
In formula, X is that coal-winning machine pose parameter vector comprises coal-winning machine position in work surface and the attitude information of cylinder cut, μQIt is the computational methods of membership function。The coal-rock interface that can be realized coal-winning machine multiparameter perception by the calculating of Q analyzes method。
The specific embodiment of the present invention is shown in detail in by following example and accompanying drawing thereof。
Accompanying drawing explanation
Fig. 1 is this utility model system structure schematic diagram
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 that the present invention reaches technological means and effect that predetermined goal of the invention is taked, below in conjunction with accompanying drawing and preferred embodiment, a kind of coal-rock interface based on coal-winning machine perception proposed according to the present invention is analyzed the detailed description of the invention of method, structure, feature and effect thereof, describes in detail as follows。
For the present invention aforementioned and other technology contents, feature and effect, can clearly appear from following cooperation is with reference to the detailed description of graphic preferred embodiment。By the explanation of detailed description of the invention, when can be reach technological means that predetermined purpose takes and effect is able to more deeply and concrete understanding to the present invention, however institute's accompanying drawings be only to provide with reference to and purposes of discussion, be not used for the present invention is any limitation as。
A kind of coal-rock interface based on coal-winning machine perception of present pre-ferred embodiments analyzes method, as shown in Figure 1, by including 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 cabinet of coal-winning machine self, supply module in electric cabinet power, it is provided that 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 cabinet 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 essential safe type vibration acceleration sensor Signal-regulated kinase is nursed one's health。When device power is opened, Mass Data Storage Facility starts immediately, its internal user program startup optimization, starts collection and the storage of data。
Described embedded computer board; it is arranged in Mass Data Storage Facility; it is not only high temperature-proof but also the mainboard of the low-power consumption of anti-high humidity, the mainstream operation systems such as WindowsXP can be run, it is possible to run XPEmbedded or WindowsCE etc. and there is the embedded OS of power down protection。This embedded computer board is realized with coal-winning machine communication by serial communication modular。Described serial communication modular is onboard RS232/RS485 interface, is connected the serial communication modular of coal-winning machine ECU by RS232/RS485 interface, thus realizing with electromechanical equipment communication, and can carry mass-memory unit。This embedded computer board is the kernel control module of this system, runs embedded OS, completes collection and the record of data by running the user program of exploitation, and every data of record can be accurate to a millisecond rank。
Described vibration information acquisition module, it is arranged in Mass Data Storage Facility, it is capable of multichannel collecting, the adjustable single double-end signal input of hardware, the adjustable sample frequency of software, it is connected with mainboard USB interface, and provided power supply by this interface, realize high speed acquisition vibration acceleration signal, and by mainboard USB interface by incoming for signal embedded computer board, and by embedded computer board, real-time for vibration acceleration signal is stored in Large Copacity solid state hard disc。
Described Large Copacity solid state hard disc, its non-volatile storage character and antivibration characteristic, it is possible to ensureing the status signal of the stable real-time storage vibration signal from coal-winning machine and coal-winning machine, its jumbo memory space can complete to store these signals for a long time。In data storage according to the Large Copacity solid state hard disc in Fig. 1, an example of the data of its storage is: store data in the text of file csv form；The data of serial communication modular collection being stored in embedded database SQLite, it is mainly designed for embedded-development environment, need not install, and code is increased income, maximum support 2TB capacity。The data base set up has third party software to provide visualization interface for inquiry and amendment data base。The code of this data base can be grafted directly in our own programming by we。The basic entry of every data record includes: the time (date Hour Minute Second), it is possible to be accurate to millisecond；Equipment status parameter information (voltage, electric current, acceleration of vibration)。
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, one example is multiple key positions that essential safe type vibration acceleration sensor is 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 the electromechanical equipment electric cabinet of its own is by gathering self cutting motor and the voltage of traction electric machine, 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 in Mass Data Storage Facility and processes and record。
A kind of coal petrography character identification system and method based on coal-winning machine cutting motor multiparameter of present pre-ferred embodiments, it is the coal-winning machine of MG400/940-WD by model in example, adopt motor rocking arm planetary geared drum structure, 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 carrying loss big, easy, make cutting units more simplify。Adopt this kind of drive can obtain bigger scope of heightening, and make coal-winning machine fuselage length shorten 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 should mainly consider the principal elements such as the efficiency of motor, the transmission efficiency of gear, efficiency of bearing。In this paper, what motor adopted is threephase asynchronous machine, and its efficiency is generally 91.5%；The transmission efficiency of gear and the type of gear, machining accuracy and lubrication circumstances are all relevant, can table look-up the transmission efficiency found according to the accuracy of manufacture of gear, lubricating condition, be 0.97 for seven grades of common its efficiency of roller gear；Every pair of engaged gears efficiency being multiplied with regard to the total transmission efficiency of gear transmitting portions, generally the efficiency of 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 typically in 0.98-0.99, and transmission efficiency is higher。
Cutting motor line voltage UL, cutting motor line current ILBy based on the coal petrography character identification system acquisition of coal-winning machine cutting motor multiparameter and record, cutting motor power factor (PF)Determine according to Motor Production Test parameter, motor load COEFFICIENT KpFor constant (actual power and the ratio of rated power) when motor runs。Wherein machinery driving efficiency η, cutting motor rotational speed omega (unit rad/s), cylinder mean radius RheadThe 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 description。
YBCS4-the asynchronous flame-proof electric motor of three-phase squirrel cage of 400 that cutting units is selected, its major parameter is as follows:
With involute spline on this motor output shaft, by this spline motor, the power of output is passed 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
n1=nMotor=1470r/min
n2=n1=1470r/min
n3=n2/i1=1470/1.77=830r/min
n4=n3/i2=830/1.76=472r/min
n5=n4=472r/min
n6=n5/i3=472/2.238=211r/min
n7=n6/iPlanet=211/6=35r/min
2) determine that each axle inputs specified power P
P1=400kW
P2=P1=400kW
P3=P2×η1×η2=400 × 0.97 × 0.99=384kW
P4=P3×η1×η2=384 × 0.97 × 0.99=369kW
P5=P4=369kW
P6=P5×η1×η2=369 × 0.97 × 0.99=354kW
P7=P6=354kW
In formula:
η1-gear mesh efficiency, η1=0.97；
η2-efficiency of bearing, η2=0.99.
Through above-mentioned calculating, obtain the parameter occurrence of empirical equation 1.7, as shown in table 1 and formula 1.11。
The parameter occurrence of table 1 empirical equation
Power factor (PF)Change with load change, general standard value is the power factor (PF) of full load, under normal circumstances, load is more low, and power factor (PF) is more little, the change of the cutting motor running parameter under high capacity during this paper research rock stratum, floor, cylinder cut top emphatically, according to actual coal-winning machine working experience it can be seen that cutting motor overload situations is less, in not influence research purpose and press in conjunction with practical situation condition, simplify and calculate, take the standard value that power factor (PF) is full load。
By formulaObtain cutting motor power and the Protodyakonov coefficient relation formula characterizing coal petrography hardness, substitute into the constant value in table 1, obtain formula (1.12)
Wherein KpIt is similar to and takes cutting motor YBCS4-400 full load rated efficiencies 0.915。
By formulaCan obtain:
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。It is believed that the value that data point 4 is the f/K that coal-winning machine cut medium is the hardest。
The value scope of the normal f/K that (2) second main wave bands (f/K ∈ [3164,3740]) are coal mining machine roller coal petrography cutting medium, face roof is good, smooth。Coal mining machine roller normal operation 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]。
Repeatability in view of data interpretation, examples below repeats no more for the explanation of cutting motor electric current, voltage, power and coal petrography hardness Protodyakonov coefficient Yu correction value ratio f/K, first main wave band is that coal-winning machine is unloaded, second main wave band is coal-winning machine actual loading coal petrography cutting, the emphasis span by sample training correction value K。
Infer that Protodyakonov coefficient f has distinguishing for checking according to adjusted coefficient K, take K=10 × 10-4, it is achieved that based on the case verification of multiparameter (cutting motor and the voltage of traction electric machine, electric current, temperature, torque information) the information fusion identification coal petrography hardness method of coal-winning machine cutting motor。
Characterize the weight vectors u=(u of the sensor information data of coal-winning machine coal petrography cutting1,u2,…,un)∈(δ1,δ2,…,δn), and meetReflect the significance level of i-th factor。U1It is cutting motor message reflection coal-rock interface factor, u2It is rocking arm place vibration information reflection coal-rock interface factor, u3It is coal mining machine rocker arm height oil cylinder load information projection coal-rock interface factor, unIt is the n-th coal-winning machine sensor information reflection coal-rock interface factor, has according to the significance level of its correspondence:
δ1> δ2> δ3> ... > δn
Cutting motor identification coal-rock interface functionBecause the codomain of f be based on experience value (0,20], normalization A1(u1) codomain, order
Determine vibration signal Wavelet Packet Energy Eigenvector, whether coal cutting characteristic vector, still cut balkstone characteristic vector, however, it is determined that cutting balkstone characteristic vector is reference vector, it is determined that in coal cutting, the eigenvalue of characteristic vector cut under rock state and range of tolerable variance。
Determine at coal cutting and the occurrence of characteristic vector that cuts under rock operating mode:
N is test number (TN) (1.14)
Range of tolerable variance:
N is test number (TN), and K is proportionality coefficient, and its empirical value generally takes 3-5。
The characteristic vector of range of tolerable variance:
ΔCRange of capacity=[Δ C0, Δ C1, Δ C2, Δ C3], (1.16)
Range of tolerable variance definition allows the error in certain statistical probability when determining sample canonical value identification experimental data vector。
Then order:
Rock vector will be cut orientate as the value maximum of characteristic vector, and take it and do denominator and can weigh operating mode in the span of (0,1)。If it is determined that unloaded characteristic vector is reference vector, then order:
Meet A2(u2) codomain be [0,1], 0 for cutting full coal, and 1 for cutting balkstone。
In the process of sample learning, meetWhen, δ can be made1=0.5, δ2=0.3, δ2=0.1 ..., δn=0.01。Then have:
Tentatively obtain multisensor and differentiate coal-rock interface vague definition membership function A (u)。
It is described above as the basic conception of the present invention。But, in the technical field of the present invention, as long as possessing most basic knowledge, it is possible to other exercisable embodiments of the present invention are improved。Substantial technical scheme proposes patent protection request in the present invention, and its protection domain should include all variation patterns with above-mentioned technical characterstic。
The above, it it is only presently preferred embodiments of the present invention, not the present invention is done any pro forma restriction, although the present invention is disclosed above with preferred embodiment, but it is not limited to the present invention, any those skilled in the art, without departing within the scope of technical solution of the present invention, when the technology contents of available the disclosure above makes a little change or is modified to the Equivalent embodiments of equivalent variations, in every case it is the content without departing from technical solution of the present invention, according to any simple modification that above example is made by the technical spirit of the present invention, equivalent variations and modification, all still fall within the scope of technical solution of the present invention。
Claims (4)
1. the coal-rock interface based on coal-winning machine perception analyzes method, described method is based on a kind of coal-rock interface based on coal-winning machine perception and analyzes what system realized, 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 cabinet of coal-winning machine, it is connected by the serial ports of serial communication modular with coal-winning machine ECU, vibration data transmission cable is connected also 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 includes:
Embedded computer board, reception processes the various data collected；Described embedded computer board transmits information to coal-winning machine by sending command request serial communication modular, and coal-winning machine serial communication modular accepts instruction and transmits cut and the voltage of traction electric machine, electric current, temperature, torque, rotary speed information and oil cylinder information to Mass Data Storage Facility；Vibrating data collection module, gathers 8 road signals after being nursed one's health by essential safe type vibration acceleration sensor；Described vibrating data collection module is powered by embedded computer board USB interface and realizes 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 storage device non-volatile, that rewritable, anti-seismic performance are good；
It is characterized in that: described recognition methods is by gathering storage by vibration signal, 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 perceived quality being obtained difference coal petrography hardness property by the calculating of fuzzy mathematics membership function realizes the coal-rock interface that coal-winning machine perceived blur defines。
2. a kind of coal-rock interface based on coal-winning machine perception analyzes method as claimed in claim 1, it is characterised in that
Data difference approximating method is utilized to obtain mathematical modeling formula according to the change of cutting motor winding temperature with current of electric change: T=M × F (UL,IL, r), in conjunction with the Protodyakonov coefficient and the cutting motor voltage x current mathematical model that characterize coal petrography character hardness, it being obtained by motor temperature parameter identification and characterize the Protodyakonov coefficient of coal petrography character, its relational expression is:
F characterizes the Protodyakonov coefficient of coal petrography character hardness；
K characterizes the correction value of cutting motor parameter and Protodyakonov coefficient relation formula；
δcThe 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-1Difference fitting function inverse function, according to the empirical function that sample data study obtains；
θ cutting motor winding temperature and power of motor correlation coefficient, it obtains according to sample data；
Described a kind of coal-rock interface based on coal-winning machine perception analyzes method, it is further characterized in that and determines that coal petrography cutting properties and characteristics value analyzes method by the voltage x current information of collection storage coal-winning machine cutting motor, be obtained by the empirical equation that cutting motor voltage and current parameter identification characterizes the Protodyakonov coefficient of coal petrography character:
OrderMeet
By formula (1.1) it can be seen that cutting motor line voltage UL, cutting motor line current ILGathered and record by coal-winning machine black box；Cutting motor power factor (PF)Determine according to Motor Production Test parameter, motor load COEFFICIENT KpFor constant, actual power when it runs for motor and the ratio of rated power, wherein machinery driving efficiency η, cutting motor rotational speed omega rad/s, cylinder mean radius RheadM, participate in cut pick projected area sum A can according to coal-winning machine description obtain relevant parameter。
3. a kind of coal-rock interface based on coal-winning machine perception analyzes method as claimed in claim 1, it is characterised in that
Mine-used I. S vibrating sensor is utilized to measure the rocker arm of coal mining machine vibration data under underground coal mine fully-mechanized mining working various working, according to cylinder cut coal, shale top board, mud stone base plate different working conditions, utilize wavelet packet signal analysis method, obtain the time-frequency domain decomposed signal of 4 radio-frequency components of third layer, function expression after reconstructing according to coefficient, calculate the signal energy in each frequency range as characteristic vector, it is determined that during coal-winning machine coal petrography cutting, rocking arm vibration performance vector is: T=[E20,E21,E22,E23],
Wherein T is rocking arm vibration performance vector；EijFor time-frequency domain decomposed signal energy value, wherein i represents Decomposition order, and j represents the order of the decomposition coefficient in each layer；
Described rocking arm vibration performance vector removes normalization coefficient K=1000 based on experience value, obtains vibrational energy normalization characteristic vector and is
4. a kind of coal-rock interface based on coal-winning machine perception analyzes method as claimed in claim 1, it is characterised in that
Difference according to the hardness difference of cut medium in coal rock layer and cut quality Q, utilizes multi-sensor information to analyze method and determines the cut quality Q characterizing cut media hardness, judge cut Jie's qualitative attribution according to the scope that is subordinate to of Q；
Definition and the calculation 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 includes rocking arm place vibration signal characteristics vector T, coal-winning machine pose parameter vector X, the Protodyakonov coefficient f, wherein f=k that characterize coal petrography hardness of cutting motor voltage x current and temperature information reflection1*f1+k2*f2,k1、k2Represent cutting motor voltage x current and the scale experience value of cutting motor temperature reflection coal petrography hardness Protodyakonov coefficient respectively, obtained by production site experiment, f1Represent cutting motor voltage x current reflection coal petrography hardness Protodyakonov coefficient, f2Represent 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=μQ(T, X, f) (1.2)
In formula, X is that coal-winning machine pose parameter vector comprises coal-winning machine position in work surface and the attitude information of cylinder cut, μQIt is the computational methods of membership function。
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| CN113760955B (en) * | 2021-09-08 | 2023-03-10 | 大连海事大学 | Joint multi-factor grouping method considering box fractal dimension and occurrence |
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