CN104695957B - A kind of coal mining machine roller Automatic Height-Adjusting System and method of work thereof - Google Patents
A kind of coal mining machine roller Automatic Height-Adjusting System and method of work thereof Download PDFInfo
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- 239000003245 coal Substances 0.000 title claims abstract description 83
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- 238000005065 mining Methods 0.000 title claims abstract description 46
- 238000005520 cutting process Methods 0.000 claims abstract description 29
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- 230000008569 process Effects 0.000 claims description 26
- 239000003921 oil Substances 0.000 claims description 25
- 230000033001 locomotion Effects 0.000 claims description 24
- 239000011435 rock Substances 0.000 claims description 23
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- 238000001914 filtration Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 7
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- 241000764238 Isis Species 0.000 claims description 3
- 230000005587 bubbling Effects 0.000 claims description 3
- 239000010727 cylinder oil Substances 0.000 claims description 3
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/06—Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
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- E—FIXED CONSTRUCTIONS
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Abstract
The present invention relates to a kind of coal mining machine roller Automatic Height-Adjusting System and method of work thereof, comprise fuzzy controller, data acquisition unit, the first pressure sensor, the second pressure sensor and electromagnetic proportional valve, the first pressure sensor is arranged on height adjusting oil cylinder of coal cutting machine rodless cavity pipe joint, the second pressure sensor is arranged on height adjusting oil cylinder of coal cutting machine rod chamber pipe joint, and electromagnetic proportional valve is arranged on coal-winning machine and heightens on hydraulic circuit; The first pressure sensor is all connected with described data acquisition unit with the second pressure sensor, and data acquisition unit is connected with fuzzy controller, and fuzzy controller is connected with electromagnetic proportional valve. Adopt fuzzy control rule to carry out the control of coal mining machine roller automatic adjustment height, solved the nonlinear characteristic of heightening system of coal mining machine, a difficult difficult problem that obtains its mathematical models, realize the Automatic Height-Adjusting of coal mining machine roller by fuzzy control rule.
Description
Technical field
The present invention relates to a kind of coal mining machine roller Automatic Height-Adjusting System and method of work thereof, belong to mine coal-cutting equipment skillArt field.
Background technology
Coal-winning machine is one of capital equipment of fully-mechanized coalface, the automation of coal-winning machine be whole working face fromThe key link of movingization, and the automatic adjusting of roller height is a main aspect that realizes coal-winning machine automation. MiningMachine cylinder height regulates control aspect, except the advanced coal-winning machine of domestic and international minority producer adopts the intelligent program-controlled cylinder that carries out of memory highOutside degree is controlled, major part is that Artificial Control is heightened, and operator leans on individual acuity and judges in conjunction with cut noiseCoal mining machine roller is in coal cutting or cuts rock, to regulate the height of cylinder. But coal-winning machine is in coal cutting process, a large amount ofThe generation of coal petrography dust, reduces working face visibility, and simultaneously set noise is very large, cause operator to be difficult to accurately andIn time, judges and the cut state of coal-winning machine is difficult to make in time rational operation. Especially at thin seam working surface, operating conditionPoor, working space is little, and workman's inconvenient walking makes operating personnel be difficult to regulate in time the height of cylinder. Adopt in order to improveThe intellectuality of coal machine frees workman from severe working environment and heavy manual labor, need to be to coal-winning machineImprove its cylinder can be regulated automatically.
Chinese patent literature CN103216233A discloses the side of a kind of girdle Coal-Rock Interface Recognition and cylinder automatic adjustment heightMethod, the method utilization is installed current sensor on cut motor, and band coal-winning machine cut motor first cuts a cutter as showingModel cutter, record wherein cuts behind coal seam and rock stratum current value situation separately, and this current value is as coal seam and rock stratum Current LimitsValue; Front roll rocking arm upper pendulum automatically after coal-winning machine feed, coal-winning machine back roll is automatically to the bottom, by detecting the ripple of electric currentMoving scope, identification coal rock layer, adjusts mining height automatically with the current limit that coal is different from rock stratum; According to the demonstration coal process of lancinatingIn record coal-winning machine coal petrography cutting time current data judge as standard value. At identification coal-rock interfaceIn situation, coal-winning machine can, according to the thick automatic adjustment mining height of coal, improve recovery ratio. Electricity when the method is worked according to demonstration cutterThe feedback of stream signal is carried out the judgement of coal petrography, judges whether to cut rock stratum, thereby determines coal-rock interface and automatically adjust mining height.But the method is under the operating environment of down-hole complexity, and its precision of automatically adjusting mining height can not realize comparatively accurately and controlling.
Chinese patent literature CN102852521A discloses a kind of coal mining machine roller automatic adjustment height method based on image recognition,The method adopts digital camera constant duration to obtain the rib that coal mining machine roller cut is crossed simultaneously, under cylinder, falls in the airThe image of dump on coal and scraper conveyor middle groove, the composition accounting of coal in the every width image of application image recognition technology analytical technology,Using the mean value of 3 width image coal composition accountings and mean value increment as input quantity, using roller height regulated quantity as outputAmount is carried out fuzzy control, realizes the automatic adjusting of coal mining machine roller height. The method needs the auxiliary works such as reason digital cameraTool, but in ore deposit underground work, have a large amount of dusts, and working environment is quite severe, can affect the work of digital camera,What be easy to cause cylinder to heighten is inaccurate, and its precision cannot ensure.
Therefore, need the coal mining that design is not a kind ofly affected by the external environment, data feedback is relatively accurate, induction is relatively sensitive badlyThe control system of machine cylinder automatic adjustment height and method of work thereof.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of coal mining machine roller Automatic Height-Adjusting System.
The present invention also provides the method for work of above-mentioned coal mining machine roller Automatic Height-Adjusting System.
Technical scheme of the present invention is as follows:
A kind of coal mining machine roller Automatic Height-Adjusting System, comprises that fuzzy controller, data acquisition unit, the first pressure passSensor, the second pressure sensor and electromagnetic proportional valve, described the first pressure sensor is arranged on height adjusting oil cylinder of coal cutting machine without barOn lumen pipeline connector, described the second pressure sensor is arranged on height adjusting oil cylinder of coal cutting machine rod chamber pipe joint, described electricityMagnetic proportioning valve is arranged on coal-winning machine and heightens on hydraulic circuit; Described the first pressure sensor and the second pressure sensor are all and instituteThe data acquisition unit of stating connects, and described data acquisition unit is connected with fuzzy controller, described fuzzy controller and electromagnetismProportioning valve connects. Coal mining machine roller Automatic Height-Adjusting System provided by the invention, all the sensors is by holding wire and numberConnect according to harvester, data acquisition unit carries out after filtering computing all the sensors signal, unified to Fuzzy ControlDevice processed sends filtering signal after treatment, and first fuzzy controller calculates adjust high cylinder oil liquid pressure and pressure change rate,Judge cylinder cut state according to adjust high cylinder oil liquid pressure and pressure change rate fluctuation situation through reasoning by analogy again, thenTransmit control signal to electromagnetic proportional valve, to change electromagnetic proportional valve valve core movement direction and valve port opening, and then change intoGo out the flow of adjust high cylinder, thereby change the displacement of adjust high cylinder piston rod, finally realize the Automatic Height-Adjusting to cylinder.
Preferably, described coal mining machine roller Automatic Height-Adjusting System also comprises display and keyboard, described display and keyDish is all connected with fuzzy controller. The advantage of this design is, is realized to fuzzy controller and is inputted some parameters by keyboardSetting, display be used for show input parameter or system operational parameters, convenient operation and observation.
Preferably, the data that the model that described data acquisition unit selects Yanhua Co., Ltd to produce is PCI-1711UCapture card.
Preferably, described the first pressure sensor and the second pressure sensor are all selected KISTLER Instrumentarium Oy of SwitzerlandThe explosion-proof type pressure transmitter that the model of producing is SM20RE250-HKC.
Preferably, described electromagnetic proportional valve select Bosch Rexroth Corp. produce model beThe not guide's 3-position 4-way proportional direction valve with Electrical Position Feedback of 4WRZE16E100-7X/6EG24ETK31A1M.
Preferably, the PLC that the model that described fuzzy controller selects Siemens Company to produce is S7-221, or select DezhouThe model single-chip microcomputer that is MSP430F6659IZQW in the MSP430 series that instrument company produces, or select that to grind magnificent share limitedThe built-in industrial control machine that the model with PCI/PCIe expansion that company produces is ARK-5260, or select PC computer.
A method of work for coal mining machine roller Automatic Height-Adjusting System, comprises signals collecting, data processing, fuzzy fortuneCalculate and instruction output, wherein,
(1) signals collecting: described the first pressure sensor and the second pressure sensor measure respectively adjust high cylinder rodless cavity andThe pressure signal of adjust high cylinder rod chamber is also transferred to data acquisition unit by pressure signal, and described data acquisition unit is to pressingForce signal carries out obtaining pressure initial data after filtering processing, and by pressure original data transmissions to fuzzy controller;
(2) data processing: the data processor of described fuzzy controller inside is according to the pressure initial data meter receivingCalculate load pressure and the load pressure rate of change of adjust high cylinder;
(3) fuzzy operation: described fuzzy controller changes the load pressure calculating in step (2) and load pressureRate is carried out Fuzzy processing, on its corresponding fuzzy subset, calculates degree of membership value as its correspondence by membership functionObfuscation value, then calculates respectively the fit of every rule conclusion: get every according to the fuzzy rule in fuzzy reasoning tableLoad pressure obfuscation value, load pressure rate of change obfuscation value and electromagnetic proportional valve control current-mode under fuzzy ruleStick with paste subset membership function three's friendship operation result as the fit of this fuzzy rule conclusion, finally by all fuzzyThe union result of rule conclusion fit is as controller fuzzy operation result;
(4) instruction output: described fuzzy controller utilizes gravity model appoach to obtain fuzzy to controller fuzzy operation result ambiguity solutionController output is the control signal of electromagnetic proportional valve, described control signal control break electromagnetic proportional valve valve core movement directionWith the flow of valve port opening with change turnover adjust high cylinder, thereby change the displacement of adjust high cylinder piston rod, finally realize rollingThe Automatic Height-Adjusting of cylinder.
Preferably, in step (1), described filtering processing refers to that data acquisition unit adopts the way of median average filter to theThe pressure signal of one pressure sensor and the transmission of the second pressure sensor carries out filtering processing, and its detailed process comprises: continuouslyN the data of sampling, then adopt bubbling method principle to sort to the N a collecting data, find out N sampled dataIn maximum and minimum of a value, remove maximum and minimum of a value, then calculate the arithmetic mean of instantaneous value of a remaining N-2 data,N value be chosen for 3-14.
Preferably, in step (2), the data processor of described fuzzy controller inside calculates the load of adjust high cylinder and pressesPower and load pressure rate of change, its detailed process comprises:
Oil cylinder equivalent load pressure is defined as: pL＝p1-p2×A2/A1(Ⅰ)
Wherein, in formula (I), p1For the filtered arithmetic mean of instantaneous value of rodless cavity side oil pressure value, p2For rod chamber side oil pressure valueFiltered arithmetic mean of instantaneous value, A1For the effective active area of oil pressure rodless cavity side, A2For the useful effect of cylinder rod chamber sideArea;
When calculating after oil cylinder equivalent load pressure, adopt least square method to obtain pressure change rate, its detailed process comprises:The data processor of fuzzy controller inside calculates a series of oil cylinder equivalent load pressure sequence (1pL)，(2pL)，…，(mpL), by these data points of straight line matching, determine that fitting a straight line equation is
p＝a0+a1n(II)
Wherein, a in formula (II)0、a1For real number undetermined, n=1,2 ..., m.
For determining a in formula (II)0And a1, can be derived by the curve theory under 2-norm measure
Wherein QnFor equivalent load pressure sequence, i.e. Q1＝1pL,Q2＝2pL,…,Qm＝mpL，
Solve an equation (III) can obtain a0And a1, by the mean value of matched curve
As load pressure; The slope a of matched curve1As load pressure rate of change, i.e. load pressure rate of change
Preferably, in step (3), the design process of described fuzzy rule, comprises the following steps,
(a) according to the difference of cylinder cut medium and cut amount, cylinder cut operating mode is divided into: not exclusively coal cutting, completeFour kinds of full coal cuttings, a small amount of rock of cut, the more rock of cut; By corresponding adjust high cylinder load pressure be divided into [0P1],[P1P2]、[P2P3]、[P3P+] four interval, wherein P+For the load pressure upper limit, load pressure domain is [0P+]，Four corresponding fuzzy subsets in interval that load pressure is divided are followed successively by { Z, PS, PM, PB};
(b), according to the size of load pressure rate of change, drum movement state is divided into: fast-descending, decline, constant,Rising, five kinds of situations of fast rise, corresponding load pressure rate of change is divided into [DP-DP1]、[DP1DP2]、[DP2DP3]、[DP3DP4]、[DP4DP+] five interval, wherein DP-For lower limit, the DP of load pressure rate of change+For load pressure changesThe upper limit of rate, the domain of load pressure rate of change is [DP-DP+], five intervals that load pressure rate of change is divided are relativeThe fuzzy subset who answers is followed successively by { NM, NS, Z, PS, PM};
(c) control signal of fuzzy controller output is the control electric current of electromagnetic proportional valve, in order to regulate by electromagnetism ratioThe electric current of example valve proportion electro-magnet, the size and Orientation of electromagnetic proportional valve control electric current has determined movement velocity and the fortune of cylinderMoving direction, by the control electric current of electromagnetic proportional valve be divided into [Ib-Im], [Im-Is], [IsIs], [IsIm],[ImIb] five intervals, and Ib > Im > Is > 0, wherein Ib is the control electric current that valve core movement needs during to extreme position,The domain of electromagnetic proportional valve control electric current is [IbIb], controls five fuzzy subsets that interval is corresponding that electric current is dividedBe followed successively by NB, NS, Z, PS, PB}, respectively corresponding control electric current negative large, negative little, zero, just little, honest;
(d) taking coal-winning machine operating personnel to the working control process of cylinder as basis, set up fuzzy rule, fuzzy rule asShown in table one:
Table one: fuzzy reasoning table
Which kind of cut operating mode fuzzy controller works as front roll according to the load pressure judgement of calculating, more negative according to what calculateCarry pressure change rate judgement when front roll is in which kind of motion state, last, fuzzy controller is pressed load pressure, loadPower rate of change carries out Fuzzy processing and carries out fuzzy operation according to the fuzzy rule of setting up obtaining electromagnetic proportional valve control electricityStream, and to the corresponding control signal of the fuzzy rear output of electromagnetic proportional valve control solution for the current to regulate the electric current of electromagnetic proportional valve,The hydraulic oil that enters adjust high cylinder by solenoid-operated proportional valve regulation correspondingly regulates movement velocity and the direction of motion of cylinder,Realize eventually the automatic adjustment height of cylinder.
Preferably, the method for work of described control system also comprises that input presets the process of parameter, before coal-winning machine work,Set the fuzzy subset's parameter that is stored in fuzzy controller internal memory by keyboard and display, comprise the different cuts of cylinderAdjust high cylinder load pressure P1 under medium, P2, P3, P+, adjust high cylinder load pressure rate of change DP1, DP2, DP3,The control electric current I s of DP4 and electromagnetic proportional valve, Im, Ib.
Preferably, in step (4), the process of described ambiguity solution comprises that employing COG gravity model appoach obtains electromagnetism to fuzzy operationProportional valve control currents is carried out reverse gelatinization processing, and fuzzy controller output ambiguity solution isItsMiddle y is fuzzy controller fuzzy operation result, and x is electromagnetic proportional valve control electric current fuzzy subset value, and a, b are electromagnetismProportional valve control currents fuzzy subset's interval endpoint value.
Beneficial effect of the present invention is as follows:
1. coal mining machine roller Automatic Height-Adjusting System of the present invention and method of work thereof, adopts fuzzy rule to carry out coal-winning machine and rollsThe control of cylinder automatic adjustment height, fuzzy control is applicable to be difficult for obtaining the controlled device of mathematical models, is applicable to non-simultaneouslyThe control of linear system, antijamming capability is strong, fast response time, and the variation of systematic parameter is had to stronger robustness.
2. coal mining machine roller automatic adjustment height of the present invention can improve the rate of extraction of coal; The spoil, the ash etc. that reduce in coal are mixedThe content of matter; Improve coal mining activity efficiency; Reduce equipment attrition; Reduce maintenance of equipment amount and downtime. Simultaneously byLess in vibration, avoid cutting rock, reduce on-the-spot airborne rock dust content, and realized operating personnel away from dangerous workFace, is significantly improved safety in production and labour protection.
3. coal mining machine roller Automatic Height-Adjusting System of the present invention and method of work thereof, easy to install, and effect is obvious,Effect is remarkable.
Brief description of the drawings
Fig. 1 is the annexation schematic diagram of coal mining machine roller Automatic Height-Adjusting System of the present invention;
Fig. 2 is load pressure membership function distribution schematic diagram of the present invention;
Fig. 3 is load pressure rate of change membership function distribution schematic diagram of the present invention;
Fig. 4 is electromagnetic proportional valve control electric current membership function distribution schematic diagram of the present invention;
Fig. 5 is fuzzy operation process schematic diagram in the present invention;
Fig. 6 is cylinder Automatic Height-Adjusting flow chart of the present invention;
Wherein: 1, coal-winning machine fuselage, 2, keyboard, 3, display, 4, fuzzy controller, 5, data acquisition unit,6, the first pressure sensor, 7, the second pressure sensor, 8, rocking arm, 9, cylinder, 10, adjust high cylinder, 11, electricityMagnetic proportioning valve.
Detailed description of the invention
Below by embodiment, also the present invention will be further described by reference to the accompanying drawings, but be not limited to this.
Embodiment 1:
As shown in Figure 1, a kind of coal mining machine roller Automatic Height-Adjusting System provided by the invention, comprise fuzzy controller 4,Data acquisition unit 5, the first pressure sensor 6, the second pressure sensor 7 and electromagnetic proportional valve 11; Wherein, first pressPower sensor 6 is arranged on height adjusting oil cylinder of coal cutting machine 10 rodless cavity pipe joints, and the second pressure sensor 7 is arranged on coal miningOn machine adjust high cylinder 10 rod chamber pipe joints, electromagnetic proportional valve 11 is arranged on coal-winning machine and heightens on hydraulic circuit, electromagnetismProportioning valve 11 is used for controlling the flow and the flow direction that enter the hydraulic oil in adjust high cylinder 10; The first pressure sensor 6 andTwo pressure sensors 7 are all connected with described data acquisition unit 5, and data acquisition unit 5 is connected with fuzzy controller 4,Fuzzy controller 4 is connected with electromagnetic proportional valve 11, the control that the control signal that fuzzy controller 4 is exported is electromagnetic proportional valveElectric current, the electric current of the proportion electro-magnet that is used for regulating electromagnetic proportional valve 11, electromagnetic proportional valve control electric current can change electromagnetismProportioning valve 11 valve core movement direction and valve port opening, and then change the flow that passes in and out adjust high cylinder 10, heighten thereby changeOil cylinder 10 piston rod displacements, finally realize the Automatic Height-Adjusting to cylinder 9.
Wherein, the data acquisition that the model that data acquisition unit 5 selects Yanhua Co., Ltd to produce is PCI-1711UCard; The first pressure sensor 6 and the second pressure sensor 7 all select KISTLER Instrumentarium Oy of Switzerland produce byThe explosion-proof type pressure that model in east, Anshan instrument and meter factory agency's CERALINE-S series is SM20RE250-HKCTransmitter; The model that electromagnetic proportional valve 11 selects Bosch Rexroth Corp. to produce isThe not guide's 3-position 4-way proportional direction valve with Electrical Position Feedback of 4WRZE16E100-7X/6EG24ETK31A1M; FuzzyController 4 is selected PC computer.
The coal mining machine roller Automatic Height-Adjusting System of the present embodiment, the first pressure sensor 6 and the second pressure sensor 7Be connected with data acquisition unit 5 by holding wire, data acquisition unit 5 carries out after filtering processing all the sensors signalObtain comparatively pure signal, unified signal after PC computer transmission processing, PC computer carries out fuzzy rule in advanceProgramming, when PC computer receives after pressure signal, that first carries out pressure signal calculates adjust high cylinder actual loadingForce value and heighten pressure change rate, operating by a series of obfuscation-fuzzy reasoning-ambiguity solution, finally by PCThe electric current of computer control input electromagnetic proportional valve, the flow and the flow direction that change the hydraulic oil of electromagnetic proportional valve with this, enterAnd the movement of beam hanger in change adjust high cylinder, beam hanger drives rocking arm activity, finally makes the cylinder of rocking arm front end realize positionChange, realize the automatic adjusting of roller height.
The device of the present embodiment is reasonable in design, easy to install, for the nonlinear characteristic of heightening system of coal mining machine, is difficult forObtain its mathematical models, even if set up the Mathematical Modeling of height-adjusting system, due to the changeable of cylinder cut operating mode andThe strong jamming of cut load is also difficult to realize the control to cylinder. Visible traditional classical control theory and method are difficult to applicationIn the control of coal mining machine roller, and fuzzy control is subordinated to the category of Based Intelligent Control, is applicable to be difficult for obtaining accurate mathematical mouldThe controlled device of type is applicable to the control of nonlinear system simultaneously, and antijamming capability is strong, and fast response time is joined systemThe variation of number has stronger robustness, therefore fuzzy control can be applied to the control of coal mining machine roller. Coal-winning machine workIn process, sensor carries out acquisition and processing to the running parameter of coal-winning machine, can through the fuzzy reasoning of fuzzy controllerDifferent cut states to cylinder are identified, and correspondingly control adjust high cylinder piston rod flexible realize cylinder automaticallyHeighten.
Embodiment 2:
A kind of coal mining machine roller Automatic Height-Adjusting System provided by the invention, annexation as described in Example 1, its differencePart is: fuzzy controller 4 is except selecting PC computer, and the model that can also select Siemens Company to produce isThe PLC of S7-221, or to select in the MSP430 series that Texas Instruments produces model be MSP430F6659IZQW listSheet machine, or select the embedded work that the model with PCI/PCIe expansion that Yanhua Co., Ltd produces is ARK-5260Control machine.
Embodiment 3:
As shown in Figure 1, a kind of coal mining machine roller Automatic Height-Adjusting System provided by the invention, annexation is as embodiment 1Described, its difference is, coal mining machine roller Automatic Height-Adjusting System also comprises display 3 and keyboard 2, display3 are all connected with fuzzy controller 4 with keyboard 2. Realize and input some to fuzzy controller and preset establishing of parameter by keyboardPut, display is used for showing parameter or system operational parameters, convenient operation and the observation of input.
Embodiment 4:
As shown in Figures 2 to 6, the method for work of a kind of coal mining machine roller Automatic Height-Adjusting System provided by the invention,Comprise signals collecting, data processing, fuzzy operation and instruction output, wherein,
(1) signals collecting: the first pressure sensor 6 and the second pressure sensor 7 measure respectively adjust high cylinder rodless cavity andThe pressure signal of adjust high cylinder rod chamber is also transferred to data acquisition unit 5 by pressure signal, and data acquisition unit 5 is to pressureSignal carries out obtaining pressure initial data after filtering processing, and by pressure original data transmissions to fuzzy controller 4;
(2) data processing: the data processor of fuzzy controller 4 inside calculates according to the pressure initial data receivingGo out the load pressure of adjust high cylinderWith load pressure rate of change
(3) fuzzy operation: fuzzy controller 4 is to the load pressure calculating in step (2)Change with load pressureRateCarry out Fuzzy processing, on its corresponding fuzzy subset, calculate degree of membership value as its correspondence by membership functionObfuscation value, then calculate respectively the fit of every rule conclusion according to 20 fuzzy rules in fuzzy reasoning table,Get load pressure obfuscation value, load pressure rate of change obfuscation value and electromagnetic proportional valve control under every fuzzy ruleElectric current fuzzy subset membership function three's friendship operation result is as the fit of this fuzzy rule conclusion, finally by 20The union result of bar fuzzy rule conclusion fit is as controller fuzzy operation result;
Fuzzy operation comprises two stages, as shown in Figure 6:
1) calculate the conclusion of every fuzzy rule: 1. input quantity obfuscation, obtain load pressure and load pressure rate of changeDegree of membership on fuzzy subset separately; 2. calculate fuzzy rule condition part (being IfpisZanddpisNM)Logical combination, in fuzzy reasoning table, between load pressure and load pressure rate of change, be and relation, ship calculation,Get the smaller value in the degree of membership that 1. step obtain; 3. by degree of membership and the conclusion of fuzzy rule conditional proposition logical combinationPartly the membership function of (being TheniisPB) is shipped calculation, obtains the fit of conclusion, and step obtains in 2.The friendship operation result of degree of membership and solenoid-operated proportional valve control signal membership function is as the adaptation of this fuzzy rule conclusionDegree.
2) fit of all fuzzy rule conclusions is made to union, obtain fuzzy operation result, in fuzzy reasoning tableArticle 20, the fit of fuzzy rule conclusion carries out union, obtains fuzzy controller fuzzy operation result.
For example, the load pressure that step (2) obtains is Px, and load pressure rate of change is dPx, and controller is according to table oneFuzzy rule obtains fuzzy operation result, obtains solenoid-operated proportional valve control signal ik after ambiguity solution, as shown in Figure 5, totalArticle four, fuzzy rule is effective: The degree of membership of load pressure Px isBeing subordinate on other fuzzy subsetDegree is zero, and the degree of membership of load pressure rate of change dPx isPerson in servitude on other fuzzy subsetGenus degree is zero, and has b > d > c > a. Calculate respectively the fit of four fuzzy rule conclusions: Article 1 rule conclusion fit is:Article 2 rule conclusion fit is:Article 5 rule conclusion fit is:Article 6 rule conclusion fit is:The fit of all the other fuzzy rule conclusions is zero.Finally the fit of all 20 fuzzy rule conclusions is made to union, obtain fuzzy operation resultμ(i)＝μ1(i)∨μ2(i)∨μ3(i)∨...∨μ20(i)＝μ1(i)∨μ2(i)∨μ5(i)∨μ6(i)。
(4) instruction output: fuzzy controller 4 utilizes gravity model appoach to obtain Fuzzy Control to controller fuzzy operation result ambiguity solutionDevice processed output is the control signal of electromagnetic proportional valve 11, these control signal control electromagnetic proportional valve 11 valve core movement directions andValve port opening is to change the flow of turnover adjust high cylinder 10, thereby the displacement of change adjust high cylinder piston rod finally realizes rollingThe Automatic Height-Adjusting of cylinder 9.
Wherein, in step (1), filtering processing refers to that data acquisition unit 5 adopts the way of median average filter to firstThe pressure signal of pressure sensor and the transmission of the second pressure sensor carries out filtering processing, and its detailed process comprises: adopt continuouslyA sample N data, then adopt bubbling method principle to sort to the N a collecting data, find out in N sampled dataMaximum and minimum of a value, remove maximum and minimum of a value, then calculate the arithmetic mean of instantaneous value of a remaining N-2 data, NValue be chosen for 3-14.
Wherein, in step (2), the data processor of fuzzy controller 4 inside calculates the load pressure of adjust high cylinderWith load pressure rate of change, its detailed process comprises:
Oil cylinder equivalent load pressure is defined as: pL＝p1-p2×A2/A1(Ⅰ)
Wherein, in formula (I), p1For the filtered arithmetic mean of instantaneous value of rodless cavity side oil pressure value, p2For rod chamber side oil pressure valueFiltered arithmetic mean of instantaneous value, A1For the effective active area of oil pressure rodless cavity side, A2For the useful effect of cylinder rod chamber sideArea;
When calculating after oil cylinder equivalent load pressure, adopt least square method to obtain load pressure rate of change, its detailed processComprise: the data processor of fuzzy controller inside calculates a series of oil cylinder equivalent load pressure sequence (1pL)，(2pL)，…，(mpL), by these data points of straight line matching, determine that fitting a straight line equation is
p＝a0+a1n(II)
Wherein, a in formula (II)0、a1For real number undetermined, n=1,2 ..., m.
For determining a in formula (II)0And a1, can be pushed away by the curve under 2-norm measure (least square method) theoryDerive
Wherein QnFor equivalent load pressure sequence, i.e. Q1＝1pL,Q2＝2pL,…,Qm＝mpL，
Solve an equation (III) can obtain a0And a1, by the mean value of matched curve
As load pressure; The slope a of matched curve1As load pressure rate of change, i.e. load pressure rate of change
Wherein, in step (3), the design process of described fuzzy rule, comprises that step is as follows,
(a) according to the difference of cylinder cut medium and cut amount, cylinder cut operating mode is divided into: not exclusively coal cutting, completeFour kinds of full coal cuttings, a small amount of rock of cut, the more rock of cut; By corresponding adjust high cylinder load pressure be divided into [0P1],[P1P2]、[P2P3]、[P3P+] four interval, wherein P+For the load pressure upper limit, load pressure domain is [0P+]，Corresponding fuzzy subset is { Z, PS, PM, PB};
(b), according to the size of load pressure rate of change, drum movement state is divided into: fast-descending, decline, constant,Rising, five kinds of situations of fast rise, corresponding load pressure rate of change is divided into [DP-DP1]、[DP1DP2]、[DP2DP3]、[DP3DP4]、[DP4DP+] five interval, wherein DP-For lower limit, the DP of load pressure rate of change+For load pressure changesThe upper limit of rate, the domain of load pressure rate of change is [DP-DP+], corresponding fuzzy subset be NM, NS, Z, PS,PM}；
(c) control signal of fuzzy controller output is the control electric current of electromagnetic proportional valve, in order to regulate by electromagnetism ratioThe control electric current of example valve proportion electro-magnet, the size and Orientation of electromagnetic proportional valve control electric current has determined the movement velocity of cylinderAnd the direction of motion, by the control electric current of electromagnetic proportional valve be divided into [Ib-Im], [Im-Is], [IsIs], [IsIm],[ImIb] five intervals, and Ib > Im > Is > 0, wherein Ib is the control electric current that valve core movement needs during to extreme position,The domain of electromagnetic proportional valve control electric current is [IbIb], corresponding fuzzy subset be NB, NS, Z, PS, PB}, dividesCorresponding control electric current negative large, negative little, zero, just little, honest;
(d) taking coal-winning machine operating personnel to the working control process of cylinder as basis, set up fuzzy rule, be specially: 1.If the pressure of load pressure during lower than the normal coal cutting of cylinder, illustrates that cylinder does not now have complete coal cutting, load pressure changesRate reduces, constant or increase hour, need to increase the control electric current of solenoid directional control valve, thereby make that rocking arm rises, cylinderCoal cutting completely, if the increase of load pressure rate of change is larger, illustrates that cylinder rises very fast, and now electromagnetic proportional valve needs lessThereby control electric current avoid cylinder fast rise; If the 2. pressure oscillation scope of load pressure in the time of the normal coal cutting of cylinderWithin, show now coal cutting completely of cylinder, in the time that load pressure rate of change is zero, show that roller height is constant, electromagnetismProportional valve control currents is set to zero, makes cylinder remain on this height coal cutting; In the time that load pressure rate of change is plus or minus, tableThe trend that bright cylinder has upwards or moves downward, correspondingly making electromagnetic proportional valve control electric current is negative or positive, thereby makes to rollCylinder is avoided moving up or down, the height while finally making cylinder remain on complete coal cutting; If 3. load pressure is a bit larger thamPressure when the normal coal cutting of cylinder, show cylinder now cut to a small amount of rock, and allow cut in coal-winning machine coal cutting processA small amount of rock, load pressure rate of change change be not very much negative little, zero or just hour, make the control electric current of electromagnetic proportional valveBe zero, thereby avoid cylinder frequently to heighten the planarization that has simultaneously ensured roof and floor, when load pressure rate of change absolute valueBe greatly negative large or when honest, show that load pressure is reducing rapidly or increasing, and correspondingly makes the control of electromagnetic proportional valveElectric current is honest or negative large, thereby makes load pressure increase or reduce, and avoids cylinder to decline rapidly and stays coal or rise rapidlyAnd cut more rocks; If pressure when 4. load pressure is compared with the normal coal cutting of cylinder is larger, show that cylinder cut is to moreRock, no matter how load pressure rate of change changes, the control electric current that all should make electromagnetic proportional valve is for negative, thereby reducesLoad pressure avoids cylinder to continue the more rock of cut;
Which kind of cut operating mode fuzzy controller works as front roll according to the load pressure judgement of calculating, more negative according to what calculateCarry pressure change rate judgement when front roll is in which kind of motion state, last, fuzzy controller is pressed load pressure, loadPower rate of change carries out Fuzzy processing and carries out fuzzy operation and to fuzzy operation result solution mould according to the fuzzy rule of setting upAfter sticking with paste, the corresponding control signal of output, to regulate the electric current of electromagnetic proportional valve, enters adjust high cylinder by solenoid-operated proportional valve regulationHydraulic oil correspondingly regulate movement velocity and the direction of motion of cylinder, finally realize the automatic adjustment height of cylinder.
Embodiment 5:
The method of work of a kind of coal mining machine roller Automatic Height-Adjusting System provided by the invention, method step is as embodiment 4Described, its difference is: the method for work of control system also comprises that input presets the step of parameter, its concrete mistakeJourney comprises, before coal-winning machine work, sets the fuzzy son that is stored in fuzzy controller internal memory by keyboard and displayCollection parameter, comprises adjust high cylinder load pressure P1, P2, P3, P under the different cut media of cylinder+, adjust high cylinder loadThe control electric current I s of pressure change rate DP1, DP2, DP3, DP4 and electromagnetic proportional valve, Im, Ib.
In the present invention, the interval of the division in the division in load pressure interval, load pressure rate of change interval and control electric currentDivision be taking coal-winning machine operating personnel to the working control process of cylinder as basis, in the process of heightening at Artificial Control cylinderThe endpoint parameter in a large amount of downforce intervals of collecting each operating mode and drum movement state (is P1, P2, P3, P+With DP1,DP2, DP3, DP4), and the endpoint parameter of control electric current under different operating modes and different drum movement state (Is,Im, Ib), that is to say, the setting of interval endpoint parameter is that the data during according to manual adjustment cylinder are carried out value.
After each fuzzy subset's interval division parameter is determined, need to carry out fuzzy to fuzzy subset's parameter of input fuzzy controllerChange and process, the virtual value of each input parameter is changed into fuzzy value from exact value at its domain separately.
With the fuzzy example that turns to of adjust high cylinder load pressure, the Fuzzy processing mistake of fuzzy controller to each input parameter is describedJourney. Under the incomplete coal cutting of cylinder, coal cutting completely, a small amount of rock of cut and four kinds of operating modes of the more rock of cut, obtain respectivelyAdjust high cylinder pressure virtual value isAnd haveThe physics domain of load pressureForAnd its fuzzy domain is [0, p+], first physics domain is mapped to fuzzy domain, linearisation mapping relationsForQuantizing factorpjFor the numerical value of physics domainBe mapped to the number after fuzzy domainValue, is then divided into fuzzy domain four intervals, i.e. [0P1], [P1P2], [P2P3] and [P3P+], correspondingFuzzy subset is { Z, PS, PM, PB}, the interval data acquisition Z-type of fuzzy domain [0P1] that fuzzy subset Z is correspondingMembership function mapping, the interval data acquisition of the fuzzy domain [P1P2] that fuzzy subset PS and PM are corresponding and [P2P3] is usedTrapezoidal or bell membership function mapping, the fuzzy domain [P3P that fuzzy subset PB is corresponding+] interval data acquisition use S type person in servitudeGenus degree Function Mapping, as shown in Figure 2. The control electricity of oil cylinder load pressure rate of change fuzzification process and electromagnetic proportional valveFlow fuzzification process similarly, wherein, the membership function mapping relations of load pressure rate of change fuzzification process, asShown in Fig. 3; The membership function mapping relations of the control current-mode gelatinization process of electromagnetic proportional valve, as shown in Figure 4; ExtremelyThis completes fuzzy controller to load pressureLoad pressure rate of changeFuzzy with electromagnetic proportional valve control electric current threeChange process.
The control signal of fuzzy controller output is electromagnetic proportional valve control electric current, need to, to its reverse gelatinization processing, adoptGravity model appoach (COG) reverse gelatinizing method, fuzzy controller output ambiguity solution isWherein yFor fuzzy controller fuzzy operation result, x is electromagnetic proportional valve control electric current fuzzy subset value, and a, b are solenoid-operated proportionalValve control electric current fuzzy subset interval endpoint value.
Claims (7)
1. a method of work for coal mining machine roller Automatic Height-Adjusting System, comprises signals collecting, data processing, fuzzyComputing and instruction output, wherein, coal mining machine roller Automatic Height-Adjusting System comprise fuzzy controller, data acquisition unit,The first pressure sensor, the second pressure sensor and electromagnetic proportional valve, described the first pressure sensor is arranged on coal-winning machine and adjustsOn high oil cylinder rodless cavity pipe joint, described the second pressure sensor is arranged on height adjusting oil cylinder of coal cutting machine rod chamber pipe jointUpper, described electromagnetic proportional valve is arranged on coal-winning machine and heightens on hydraulic circuit; Described the first pressure sensor and the second pressure passSensor is all connected with described data acquisition unit, and described data acquisition unit is connected with fuzzy controller, described Fuzzy ControlDevice processed is connected with electromagnetic proportional valve, it is characterized in that:
(1) signals collecting: described the first pressure sensor and the second pressure sensor measure respectively adjust high cylinder rodless cavity andThe pressure signal of adjust high cylinder rod chamber is also transferred to data acquisition unit by pressure signal, and described data acquisition unit is to pressingForce signal carries out obtaining pressure initial data after filtering processing, and by pressure original data transmissions to fuzzy controller; DescribedFiltering processing refers to that data acquisition unit adopts the way of median average filter to the first pressure sensor and the second pressure sensorThe pressure signal of transmission carries out filtering processing, and its detailed process comprises: a continuous sampling N data, then adopt bubbling methodPrinciple sorts to the N a collecting data, finds out N maximum and the minimum of a value in sampled data, removes maximumBe worth and minimum of a value, then calculate the arithmetic mean of instantaneous value of a remaining N-2 data, N is chosen for 3-14;
(2) data processing: the data processor of described fuzzy controller inside is according to the pressure initial data meter receivingCalculate load pressure and the load pressure rate of change of adjust high cylinder; The data processor of described fuzzy controller inside calculatesThe load pressure of adjust high cylinder and load pressure rate of change, its detailed process comprises:
Oil cylinder equivalent load pressure is defined as: pL＝p1-p2×A2/A1(I)
Wherein, in formula (I), p1For the filtered arithmetic mean of instantaneous value of rodless cavity side oil pressure value, p2For rod chamber side oil pressure valueFiltered arithmetic mean of instantaneous value, A1For the effective active area of oil pressure rodless cavity side, A2For the useful effect of cylinder rod chamber sideArea;
When calculating after oil cylinder equivalent load pressure, adopt least square method to obtain pressure change rate, its detailed process comprises:The data processor of fuzzy controller inside calculates a series of oil cylinder equivalent load pressure sequence (1pL)，(2pL)，…，(mpL), by these data points of straight line matching, determine that fitting a straight line equation is
p＝a0+a1n(II)
Wherein, a in formula (II)0、a1For real number undetermined, n=1,2 ..., m
For determining a in formula (II)0And a1, can be derived by the curve theory under 2-norm measure
Wherein QnFor equivalent load pressure sequence, i.e. Q1＝1pL,Q2＝2pL,…,Qm＝mpL，
Solve an equation (III) can obtain a0And a1, by the mean value of matched curve
As load pressure; The slope a of matched curve1As load pressure rate of change, i.e. load pressure rate of change
(3) fuzzy operation: described fuzzy controller changes the load pressure calculating in step (2) and load pressureRate is carried out Fuzzy processing, on its corresponding fuzzy subset, calculates degree of membership value as its correspondence by membership functionObfuscation value, then calculates respectively the fit of every rule conclusion: get every according to the fuzzy rule in fuzzy reasoning tableLoad pressure obfuscation value, load pressure rate of change obfuscation value and electromagnetic proportional valve control current-mode under fuzzy ruleStick with paste subset membership function three's friendship operation result as the fit of this fuzzy rule conclusion, finally by all fuzzyThe union result of rule conclusion fit is as controller fuzzy operation result;
(4) instruction output: described fuzzy controller utilizes gravity model appoach to obtain fuzzy to controller fuzzy operation result ambiguity solutionController output is the control signal of electromagnetic proportional valve, described control signal control break electromagnetic proportional valve valve core movement directionWith the flow of valve port opening with change turnover adjust high cylinder, thereby change the displacement of adjust high cylinder piston rod, finally realize rollingThe Automatic Height-Adjusting of cylinder.
2. the method for work of coal mining machine roller Automatic Height-Adjusting System as claimed in claim 1, is characterized in that, stepSuddenly in (3), the design process of described fuzzy rule, comprises the following steps,
(a) according to the difference of cylinder cut medium and cut amount, cylinder cut operating mode is divided into: not exclusively coal cutting, completeFour kinds of full coal cuttings, a small amount of rock of cut, the more rock of cut; By corresponding adjust high cylinder load pressure be divided into [0P1],[P1P2]、[P2P3]、[P3P+] four interval, wherein P+For the load pressure upper limit, load pressure domain is [0P+]，Four corresponding fuzzy subsets in interval that load pressure is divided are followed successively by { Z, PS, PM, PB};
(b), according to the size of load pressure rate of change, drum movement state is divided into: fast-descending, decline, constant,Rising, five kinds of situations of fast rise, corresponding load pressure rate of change is divided into [DP-DP1]、[DP1DP2]、[DP2DP3]、[DP3DP4]、[DP4DP+] five interval, wherein DP-For lower limit, the DP of load pressure rate of change+For load pressure changesThe upper limit of rate, the domain of load pressure rate of change is [DP-DP+], five intervals that load pressure rate of change is divided are relativeThe fuzzy subset who answers is followed successively by { NM, NS, Z, PS, PM};
(c) control signal of fuzzy controller output is the control electric current of electromagnetic proportional valve, in order to regulate by electromagnetism ratioThe electric current of example valve proportion electro-magnet, the size and Orientation of electromagnetic proportional valve control electric current has determined movement velocity and the fortune of cylinderMoving direction, by the control electric current of electromagnetic proportional valve be divided into [Ib-Im], [Im-Is], [IsIs], [IsIm],[ImIb] five intervals, and Ib > Im > Is > 0, wherein Ib is the control electric current that valve core movement needs during to extreme position,The domain of electromagnetic proportional valve control electric current is [IbIb], controls five fuzzy subsets that interval is corresponding that electric current is dividedBe followed successively by NB, NS, Z, PS, PB}, respectively corresponding control electric current negative large, negative little, zero, just little, honest;
(d) taking coal-winning machine operating personnel to the working control process of cylinder as basis, set up fuzzy rule, fuzzy rule asShown in table one:
Table one: fuzzy reasoning table
3. the method for work of coal mining machine roller Automatic Height-Adjusting System as claimed in claim 1, is characterized in that, instituteThe method of work of stating control system also comprises that input presets the process of parameter, before coal-winning machine work, by keyboard and aobviousShow that device sets the fuzzy subset's parameter that is stored in fuzzy controller internal memory, comprise heightening under the different cut media of cylinderOil cylinder load pressure P1, P2, P3, P+, adjust high cylinder load pressure rate of change DP1, DP2, DP3, DP4 and electromagnetismThe control electric current I s of proportioning valve, Im, Ib.
4. the method for work of coal mining machine roller Automatic Height-Adjusting System as claimed in claim 1, is characterized in that, stepSuddenly in (4), the process of described ambiguity solution comprises that employing COG gravity model appoach obtains electromagnetic proportional valve control electric current to fuzzy operationCarry out reverse gelatinization processing, fuzzy controller output ambiguity solution isWherein y is fuzzy controlDevice fuzzy operation result, x is electromagnetic proportional valve control electric current fuzzy subset value, a, b are electromagnetic proportional valve control electric currentFuzzy subset's interval endpoint value.
5. the method for work of coal mining machine roller Automatic Height-Adjusting System as claimed in claim 1, is characterized in that, instituteState coal mining machine roller Automatic Height-Adjusting System and also comprise display and keyboard, described display and keyboard are all and fuzzy controlDevice connects.
6. the method for work of coal mining machine roller Automatic Height-Adjusting System as claimed in claim 1, is characterized in that, instituteState data acquisition unit and select the data collecting card that the model of Yanhua Co., Ltd's production is PCI-1711U; DescribedThe model that one pressure sensor and the second pressure sensor all select KISTLER Instrumentarium Oy of Switzerland to produce isThe explosion-proof type pressure transmitter of SM20RE250-HKC; Described electromagnetic proportional valve select Bosch Rexroth Corp. produce modelFor the not guide's 3-position 4-way proportional direction valve with Electrical Position Feedback of 4WRZE16E100-7X/6EG24ETK31A1M.
7. the method for work of coal mining machine roller Automatic Height-Adjusting System as claimed in claim 1, is characterized in that, instituteState fuzzy controller and select the PLC that the model of Siemens Company's production is S7-221, or select Texas Instruments to produceThe single-chip microcomputer that in MSP430 series, model is MSP430F6659IZQW, or the band of selecting Yanhua Co., Ltd to produceThe built-in industrial control machine that the model of PCI/PCIe expansion is ARK-5260, or select PC computer.
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